diff --git a/.gitattributes b/.gitattributes
index 1db88b8f1e0f2279673aa8bf0e8386c54d5da567..18d48d6404c114abf0090b5b6220bce66b6e46e6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4940,3 +4940,4 @@ dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mesh/phot
 dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/photo_frame_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/59a82f9d9134500c8756d472693ea1e0/59a82f9d9134500c8756d472693ea1e0.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/5fa5c2e2593d59b9857102406ec6bf07.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/5fa5c2e2593d59b9857102406ec6bf07.urdf b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/5fa5c2e2593d59b9857102406ec6bf07.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1819a16b98ae4eaf36bf6ecfe13fa2dffae36fd5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/5fa5c2e2593d59b9857102406ec6bf07.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="vase_8">
+   <link name="vase_8">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/vase_8.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/vase_8_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>0.300000</scale>
+         <version>v0.1.5</version>
+         <category>vase</category>
+         <description>smooth orange ceramic vase with a wide body and narrow neck</description>
+         <min_height>0.25</min_height>
+         <max_height>0.35</max_height>
+         <real_height>0.3</real_height>
+         <min_mass>1.5</min_mass>
+         <max_mass>2.5</max_mass>
+         <generate_time>20251016175601</generate_time>
+         <gs_model>mesh/vase_8_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.122144341468811</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/5fa5c2e2593d59b9857102406ec6bf07.usd b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/5fa5c2e2593d59b9857102406ec6bf07.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9dbd7f6a62e5aecac6ca3f735556a8d5e38fa311
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/5fa5c2e2593d59b9857102406ec6bf07.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41430d8cef8246b7ebb2f8a774154798d46fbc87f26d3e76526a8a49875d0563
+size 612964
diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c256cb8d4ef0c2c3ffa86ce568a8b041ea1795d7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3970cb8ad7f85f1441fabb5a69df848e0f15db5eefee2d0708fa6c2df8bc5e5c
+size 697648
diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mesh/vase_8.glb b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mesh/vase_8.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8b5f6e108d234a9d51ee5498ea66a5037cae5646
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mesh/vase_8.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33c70eba7f75c9258e80b9de18af981b9ed801176c1b5d53b761fc1209702d88
+size 1106888
diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mesh/vase_8.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mesh/vase_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fab2c6ebe8fc1806f5e31def06592a2cf2a87d8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mesh/vase_8.obj
@@ -0,0 +1,37314 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mesh/vase_8_collision.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mesh/vase_8_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4507a89f26ae2dbfa5f2b00d30806f2f3219023d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mesh/vase_8_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/5fa5c2e2593d59b9857102406ec6bf07.xml b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/5fa5c2e2593d59b9857102406ec6bf07.xml
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8.obj
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+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..633a5d6b1c1ceb972a81f5b4aff7ceb7640a27c1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision.obj
@@ -0,0 +1,39855 @@
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_0.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75ff4bac59c664d60bba17686ed5a39a71bbbc41
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_0.obj
@@ -0,0 +1,343 @@
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_1.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1de893da9da6ede2e9e81c1ead031c4aee01bec1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_10.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fe7122a8f1f9853d5f082cae305940efe121147
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_10.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_11.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e645c9daa7f230dbbd2d048946a35b17ff6876da
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_11.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_12.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee51501a227d5af9a0a69d450a4ff1a6b9ff8323
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_12.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_13.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe3b5dd06d4d305ae35e1e1656460f87577d75d6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_13.obj
@@ -0,0 +1,1009 @@
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_14.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2134ae595ba14572d49bae5190c1a4519c2c431e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_14.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_15.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ca308262ffb43ec887bf3f003d9ad6019d90523
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_15.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_16.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb787cc0059195367c336c2778f88b6f4eb1e891
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_16.obj
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+
diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_17.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37035265963a54d1a5441ad2448a15dceb1b8bda
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_17.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_18.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..339f07d77819c0247b2c058f12f6d9a2f7f5047b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_18.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_19.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83981d56d3617472466b1ce468e9a0e931ed7d44
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_19.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
+v -0.10406387 -0.00249745 -0.08705350
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_2.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..747d6fbe9572b76a5aac2a54d0e3218131344fe8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_2.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_20.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..742fbe36ad1613c36945a118d437ca1bdc403213
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_20.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_21.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fa8acc8c077bea2c910eb5be2447823835ffcc7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_21.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_22.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd6148d4550b8db2aead61704f5c8953a2d92202
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_22.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_23.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..588c8c867f3711138af2b5fe6770c01360ca1f35
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_23.obj
@@ -0,0 +1,715 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_24.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75ca790ab79d6bd942d101e32c4a8c29d7bf17ac
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_24.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_25.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f126e5e43249ec13b82e5c0b61289ca97a22b6a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_25.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_26.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef60ab6c10076749978dd9ccc3170f42471f144e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_26.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_27.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7d0f432df1b58555fe2023c7da8300bbbe36166
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_27.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_28.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c78e883e481d4ed6e2ed47406507409251f687a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_28.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_29.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3c6f1e8b8fcc3af07a2e0ddc44dc3fd0a8bd407
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_29.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_3.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc097508cfa44ebe736c99a0b7715a903df7fdd7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_3.obj
@@ -0,0 +1,895 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_30.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc45c80361bcca3e085540eaa09f36510b7e81b2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_30.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_31.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4131c88df8369003f1edd9c15fde4407ed16e465
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_31.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_32.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12832080de970759f123760d9bbdaa8b1bae9275
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_32.obj
@@ -0,0 +1,835 @@
+# https://github.com/mikedh/trimesh
+v -0.06332491 -0.10309656 -0.03606111
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_33.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cd9252ce0e32b5f962ed9ad1e7a627fe90e3b9a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_33.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_34.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc54014ae8dce4f276df11963ca3c525bc42d99d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_34.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_35.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..206901235fc2619b12981c49368d7579358198b9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_35.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_36.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed45ba81164bb843bb909c424ee13cd7a39747b6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_36.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_37.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75f0849d119a454762adbfb207ebbded5943f071
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_37.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
+v -0.03119905 0.03999364 0.07897605
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_38.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a2f5d9b9838fdcd200ce5752c69bc7c566ef12a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_38.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_39.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f0147ace89e15d2965f7bc1e6c196ecaa935d7c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_39.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_4.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..251139fab839e592e1222b270c76c778123ea8fb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_4.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_40.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74b8761599bf0af7f0b763c1dbc04ee188c44dab
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_40.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+v -0.00001945 -0.05138271 0.11614092
+v -0.00249313 -0.06219901 0.11614088
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+v -0.04604618 -0.04133493 0.11614096
+v -0.00001945 -0.04972508 0.10923945
+v -0.00001945 -0.04935309 0.10730689
+v -0.00741346 -0.06173096 0.11614088
+v -0.01233380 -0.06090318 0.11614089
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+v -0.03208722 -0.05295856 0.11614092
+v -0.03402471 -0.05046896 0.07917253
+v -0.03208271 -0.05170755 0.07917253
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+
diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_41.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36a3de2ace7fe15c59eeb4220bf3fb225fc13bc4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_41.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+v -0.04315394 0.04306359 0.07897606
+v -0.04388162 0.04380288 0.11627698
+v -0.04181745 0.04570558 0.11627699
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+v -0.05012126 0.00011314 0.07945421
+v -0.05023195 0.00011314 0.07897590
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+v -0.04868229 0.03841491 0.11627696
+v -0.04126605 0.03011880 0.11609802
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+v -0.05136550 0.00011300 0.11609791
+v -0.05016431 0.00011302 0.11115050
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+v -0.04936693 0.00011304 0.10623595
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+v -0.04802635 0.03742313 0.07897604
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+v -0.04126605 0.02949660 0.11456451
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+v -0.04896311 0.00011306 0.10167557
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+v -0.05762974 0.01931144 0.07897597
+v -0.05898262 0.01940147 0.11627689
+v -0.05830003 0.01717429 0.07897596
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+
diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_42.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c773057b69574908d5cf0cf34eb153873119d7e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_42.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+v -0.02608802 -0.04133484 0.09535721
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+v -0.04958463 0.00010908 0.08178509
+v -0.04936475 0.00010899 0.10623487
+v -0.02666521 -0.04133488 0.10589337
+v -0.02833839 -0.04133479 0.08148297
+v -0.05018244 0.00010909 0.07916910
+v -0.04974954 0.00010898 0.10863094
+v -0.02800856 -0.04133490 0.11115160
+v -0.05016183 0.00010897 0.11115175
+v -0.05053631 0.00010897 0.11270099
+v -0.02925228 -0.04133478 0.07916895
+v -0.06089145 0.00010909 0.07916910
+v -0.02858919 -0.04133490 0.11270084
+v -0.06117318 0.00010897 0.11270099
+v -0.04485370 -0.04133478 0.07916895
+v -0.06089489 -0.00019926 0.07916910
+v -0.04460977 -0.04133490 0.11270084
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+v -0.06090520 -0.00127846 0.07916910
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+v -0.05691981 -0.02216483 0.11270091
+v -0.05489276 -0.02629896 0.07916900
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+
diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_43.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d87b35a407f3cb582804313295c741b04cd186b8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_43.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v -0.00001494 -0.11511770 0.00602157
+v -0.00001494 -0.11458592 0.00731038
+v -0.00249492 -0.11458592 0.00731038
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+v -0.00001494 -0.06756504 0.04787942
+v -0.00001494 -0.11331945 0.01011712
+v -0.00001494 -0.11264072 0.01136298
+v -0.00249492 -0.11196900 0.01259451
+v -0.00928723 -0.11308853 0.00967320
+v -0.00755276 -0.11205296 0.01186418
+v -0.01232947 -0.11406114 0.00685214
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+v -0.00907388 -0.11469087 0.00602157
+v -0.02565556 -0.11216489 0.00602158
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_44.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bd3b44d19f68ed9394642c28a567a45270438f6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_44.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_45.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69dcdc513b330bb57b84118a6e1c27594c2a755f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_45.obj
@@ -0,0 +1,667 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_46.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2d4fb8d4bfe485c05a191d412ebceadcf9768a9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_46.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_47.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e5e056d7a8e87b769be12463dab089cb8f9a554
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_47.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_48.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d525dcb744111b36afc743a8d64103e4d4d21f7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_48.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_49.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..560d24e1d48cf08f69b0128812b0432eb48262f2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_49.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_5.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de02e72d295762fdd243bf2e8232f83ee6b557b1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_5.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_50.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58b66f21fbb11a9ffab4ee4269886526b08677af
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_50.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_51.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b550b2b80e95d03b891eff3542b65605aa8d9412
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_51.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_52.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12610ce0ab166b659ac5adfe0a23faa25e80e6e5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_52.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_53.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbdfa77256d177e9edf6f8f054b466efcc915f39
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_53.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_54.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ef461f6b167b10efdb3fb204bebde40f8db8bcb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_54.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_55.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b30d1e13b3061fc03a4838bd4ae2d473311c8c4f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_55.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_56.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0f5bc9132e208067ebc286cc78775d1e24c430f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_56.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_57.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdeffce04549ac0c2059105b02792245d929d6e0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_57.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.04364479 0.06328950 -0.11508826
+v 0.04364479 0.06308485 -0.11532565
+v 0.04364479 0.06328957 -0.13358803
+v -0.00001494 0.06328959 -0.13759071
+v -0.00001494 0.06208991 -0.13886931
+v -0.00001494 0.06187644 -0.13909730
+v 0.04364479 0.06194516 -0.11664890
+v 0.04364479 0.06012985 -0.13909731
+v 0.04185412 0.06137892 -0.13909730
+v 0.04309349 0.06328957 -0.13423908
+v -0.00001494 0.06328959 -0.13909730
+v 0.04364479 0.04526795 -0.13909736
+v 0.04364479 0.04610067 -0.13779055
+v 0.04364479 0.05533991 -0.12513612
+v 0.04364479 0.05759988 -0.12215115
+v 0.03987542 0.06265446 -0.13909730
+v 0.03888820 0.06328959 -0.13909730
+f 1 2 7
+f 1 7 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 8
+f 1 8 3
+f 1 3 10
+f 1 10 17
+f 1 17 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 4 11 6
+f 4 6 5
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 6 11 17
+f 6 17 16
+f 6 16 9
+f 6 9 8
+f 6 8 12
+f 9 16 10
+f 10 16 17
+
diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_58.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..211bbdd10e9db1876dc6b3edf51f467cede24c61
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_58.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.04364635 0.06012696 -0.13909965
+v 0.04364635 0.06328957 -0.13358680
+v 0.05893226 0.06328952 -0.11876293
+v 0.04475519 0.05935295 -0.13909965
+v 0.04364635 0.04526263 -0.13909970
+v 0.04364635 0.06328950 -0.11509031
+v 0.05947495 0.06328951 -0.11819399
+v 0.04665536 0.05785487 -0.13909966
+v 0.05808461 0.02247924 -0.13909979
+v 0.04364635 0.04609490 -0.13778918
+v 0.05962196 0.06328944 -0.09901477
+v 0.04364635 0.06308559 -0.11532573
+v 0.05962196 0.02078141 -0.13909979
+v 0.05962196 0.06328951 -0.11802134
+v 0.05962196 0.06321045 -0.11811943
+v 0.05008039 0.05495441 -0.13909967
+v 0.04939538 0.05554948 -0.13909967
+v 0.04736227 0.05728893 -0.13909966
+v 0.04364635 0.06194540 -0.11664803
+v 0.04364635 0.05759680 -0.12214913
+v 0.04364635 0.05533720 -0.12513511
+v 0.05962196 0.04435545 -0.13909971
+v 0.05934201 0.04474662 -0.13909971
+v 0.05729169 0.04734746 -0.13909970
+v 0.05495674 0.05008563 -0.13909969
+v 0.05429988 0.05076809 -0.13909968
+v 0.05256235 0.05256579 -0.13909968
+v 0.05157707 0.05351874 -0.13909967
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 18
+f 1 18 17
+f 1 17 16
+f 1 16 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 13
+f 1 13 9
+f 1 9 5
+f 1 5 10
+f 1 10 21
+f 1 21 20
+f 1 20 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 6 11
+f 2 11 14
+f 2 14 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 6 12 9
+f 6 9 13
+f 6 13 11
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 9 12 19
+f 9 19 20
+f 9 20 21
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+f 11 22 15
+f 11 15 14
+f 15 22 23
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+f 15 27 28
+f 15 28 16
+
diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_59.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d83ac58baa2506d9005b4db590f664549950bcd7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_59.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.07807360 0.00011385 -0.11342368
+v -0.07249415 0.00011388 -0.12180999
+v -0.04894754 0.03849829 -0.13953738
+v -0.05837018 0.03849824 -0.12584920
+v -0.06171728 0.03849823 -0.12119457
+v -0.07807360 0.03849814 -0.09872052
+v -0.07807360 0.00011391 -0.13154675
+v -0.07003657 0.00011389 -0.12556566
+v -0.06920407 0.00011390 -0.12687615
+v -0.06847706 0.00011390 -0.12803880
+v -0.06149490 0.00011394 -0.13953752
+v -0.06328534 0.03849829 -0.13953738
+v -0.07807360 0.03849821 -0.11770660
+v -0.07807360 0.00052721 -0.13154675
+v -0.07432451 0.00220299 -0.13953751
+v -0.07432166 0.00011394 -0.13953752
+v -0.06349347 0.03816389 -0.13953738
+v -0.07807360 0.03806237 -0.11801024
+v -0.06411214 0.03710810 -0.13953738
+v -0.06481064 0.03584941 -0.13953739
+v -0.06666666 0.03232884 -0.13953740
+v -0.06847991 0.02836491 -0.13953742
+v -0.07807360 0.00242464 -0.13154275
+v -0.07432451 0.00242467 -0.13953751
+v -0.07807360 0.03540598 -0.11972428
+v -0.06893322 0.02729785 -0.13953742
+v -0.07807360 0.00342032 -0.13142688
+v -0.07399664 0.00687329 -0.13953749
+v -0.07807360 0.00733916 -0.13093943
+v -0.07807360 0.03286983 -0.12127449
+v -0.06945211 0.02593771 -0.13953742
+v -0.07395957 0.00733919 -0.13953749
+v -0.07807360 0.00849264 -0.13072367
+v -0.07807360 0.03192675 -0.12182586
+v -0.07080920 0.02212032 -0.13953744
+v -0.07368873 0.00969500 -0.13953748
+v -0.07807360 0.01226871 -0.12995254
+v -0.07807360 0.02875937 -0.12355188
+v -0.07223471 0.01717574 -0.13953746
+v -0.07807360 0.02813942 -0.12386752
+v -0.07348916 0.01108895 -0.13953748
+v -0.07807360 0.01717570 -0.12831043
+v -0.07332950 0.01215602 -0.13953748
+v -0.07265951 0.01533092 -0.13953746
+v -0.07807360 0.02316855 -0.12606499
+v -0.07807360 0.02596020 -0.12485838
+v -0.07807360 0.02691080 -0.12443087
+v -0.07319265 0.01289620 -0.13953747
+v -0.07807360 0.02209021 -0.12650449
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 18
+f 1 18 25
+f 1 25 30
+f 1 30 34
+f 1 34 38
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+f 1 33 29
+f 1 29 27
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+f 3 12 13
+f 3 13 6
+f 3 6 5
+f 3 5 4
+f 7 14 24
+f 7 24 15
+f 7 15 16
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+f 23 27 24
+f 24 27 29
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+f 25 26 31
+f 25 31 30
+f 28 29 32
+f 29 33 32
+f 30 31 35
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+f 32 33 37
+f 32 37 36
+f 34 35 38
+f 35 39 40
+f 35 40 38
+f 36 37 41
+f 37 42 43
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+f 39 45 46
+f 39 46 47
+f 39 47 40
+f 42 48 43
+f 42 49 48
+f 44 48 45
+f 45 48 49
+
diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_6.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88b3537dc87676f47bbdd0fb1a078f2779dba439
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_6.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.04596587 -0.04121250 0.11611884
+v 0.04554279 -0.04170400 0.11611884
+v 0.04468312 -0.04121236 0.07917935
+v 0.03018134 -0.04121250 0.11611884
+v 0.04421503 -0.04172237 0.07917935
+v 0.04363892 -0.04371522 0.11611883
+v 0.02936669 -0.04121236 0.07917935
+v 0.03017234 -0.04121250 0.11609714
+v -0.00001494 -0.04935400 0.10730613
+v -0.00001494 -0.04972417 0.10924079
+v -0.00001494 -0.05009434 0.11115014
+v -0.00001494 -0.05136937 0.11609710
+v -0.00001494 -0.05137554 0.11611880
+v 0.04295930 -0.04303439 0.07917934
+v 0.04162704 -0.04566680 0.11611882
+v 0.02892560 -0.04121236 0.08028591
+v -0.00001494 -0.05012301 0.07917932
+v -0.00001494 -0.05009628 0.07929503
+v -0.00001494 -0.04956572 0.08174681
+v -0.00001494 -0.04892618 0.08603925
+v 0.02841250 -0.04121248 0.11138884
+v -0.00001494 -0.04910516 0.10483625
+v -0.00001494 -0.06220487 0.11611876
+v 0.04050182 -0.04536230 0.07917933
+v 0.03839992 -0.04849649 0.11611881
+v 0.02845301 -0.04121237 0.08148286
+v -0.00001494 -0.06092355 0.07917928
+v -0.00001494 -0.04876167 0.08849465
+v 0.02686871 -0.04121239 0.08666126
+v 0.02706675 -0.04121246 0.10620683
+v -0.00001494 -0.04885014 0.10125984
+v 0.00242902 -0.06222132 0.11611876
+v 0.03914706 -0.04650981 0.07917933
+v 0.03594245 -0.05037610 0.11611880
+v 0.03731971 -0.04796784 0.07917932
+v 0.00013358 -0.06092355 0.07917928
+v -0.00001494 -0.04857455 0.09137315
+v 0.02675619 -0.04121239 0.08736642
+v 0.02705774 -0.04121246 0.10614896
+v -0.00001494 -0.04862597 0.09632010
+v -0.00001494 -0.04873702 0.09876827
+v 0.00242902 -0.06092149 0.07917928
+v 0.00734397 -0.06180591 0.11611876
+v 0.03501077 -0.04966648 0.07917932
+v 0.03613598 -0.04885623 0.07917932
+v 0.03217072 -0.05291171 0.11611880
+v 0.02616207 -0.04121242 0.09632013
+v 0.02620708 -0.04121241 0.09210365
+v 0.02621608 -0.04121241 0.09137318
+v 0.02655815 -0.04121245 0.10246045
+v 0.02642312 -0.04121244 0.10146237
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+v 0.01226341 -0.06099361 0.11611877
+v 0.03200419 -0.05165713 0.07917931
+v 0.03204920 -0.05299192 0.11611880
+v 0.01226341 -0.05959713 0.07917928
+v 0.01228141 -0.06098949 0.11611877
+v 0.02981227 -0.05433684 0.11611879
+v 0.02853403 -0.05364984 0.07917930
+v 0.01439682 -0.05908919 0.07917928
+v 0.01488291 -0.05897197 0.07917928
+v 0.01699382 -0.05979058 0.11611877
+v 0.02725128 -0.05568177 0.11611879
+v 0.02752583 -0.05420097 0.07917930
+v 0.01669676 -0.05849898 0.07917929
+v 0.01943328 -0.05900501 0.11611877
+v 0.02207079 -0.05800763 0.11611878
+v 0.02620258 -0.05487138 0.07917930
+v 0.01738539 -0.05826660 0.07917929
+v 0.02192226 -0.05671808 0.07917929
+v 0.02379912 -0.05592223 0.07917929
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 26
+f 1 26 29
+f 1 29 38
+f 1 38 49
+f 1 49 48
+f 1 48 47
+f 1 47 51
+f 1 51 50
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+f 1 30 21
+f 1 21 8
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+f 1 25 15
+f 1 15 6
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+f 3 5 14
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+f 27 36 32
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+f 30 40 41
+f 30 41 31
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+f 34 45 35
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+f 39 50 40
+f 40 50 51
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+f 43 52 53
+f 44 46 54
+f 46 55 54
+f 52 56 53
+f 53 56 57
+f 54 55 58
+f 54 58 59
+f 56 60 57
+f 57 60 61
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+f 58 63 64
+f 58 64 59
+f 61 65 62
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+f 63 67 68
+f 63 68 64
+f 65 69 66
+f 66 69 70
+f 66 70 67
+f 67 71 68
+f 67 70 71
+
diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_60.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f26f8d5e1fd04ea8c8125676d312a021e2ed20c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_60.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.00001495 -0.07891014 0.14375570
+v -0.00249360 -0.07891014 0.14375235
+v -0.00001495 -0.07891013 0.14222303
+v -0.00001495 -0.07816872 0.14500057
+v -0.00637830 -0.07881343 0.14352145
+v -0.00249360 -0.07891013 0.14223976
+v -0.00249360 -0.07742085 0.14622538
+v -0.00001495 -0.07842658 0.13975000
+v -0.00001495 -0.07743052 0.14622538
+v -0.00637830 -0.07881342 0.14278857
+v -0.00777556 -0.07755301 0.14540885
+v -0.01232707 -0.07679547 0.14576692
+v -0.01724271 -0.07587997 0.14576692
+v -0.01724271 -0.07677289 0.14082422
+v -0.01232707 -0.07772707 0.14082421
+v -0.00249360 -0.07841369 0.13976673
+v -0.00001495 -0.07618944 0.14764762
+v -0.00001495 -0.07497094 0.14904308
+v -0.00249360 -0.07496126 0.14903640
+v -0.00741143 -0.07481298 0.14896278
+v -0.01232707 -0.07455831 0.14882224
+v -0.00001495 -0.07615716 0.13587818
+v -0.00777556 -0.07832988 0.14101496
+v -0.01981569 -0.07383299 0.14826672
+v -0.01724271 -0.07412313 0.14850767
+v -0.02173720 -0.07472270 0.14588740
+v -0.02242376 -0.07465822 0.14563977
+v -0.02216054 -0.07553503 0.14082422
+v -0.02242376 -0.07539964 0.14057993
+v -0.02242376 -0.07437131 0.13753802
+v -0.02216054 -0.07440676 0.13748783
+v -0.01724271 -0.07501601 0.13670140
+v -0.01232707 -0.07548988 0.13616597
+v -0.00249360 -0.07613137 0.13587818
+v -0.00001495 -0.07134439 0.15032480
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+v -0.01232707 -0.07134439 0.15012736
+v -0.01724271 -0.07134439 0.14967893
+v -0.00249360 -0.06220217 0.11614089
+v -0.00001495 -0.06221829 0.11614089
+v -0.02242376 -0.07334301 0.14775137
+v -0.02242376 -0.07129604 0.14901300
+v -0.02173720 -0.07148300 0.14902637
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+v -0.01701239 -0.05970711 0.11614090
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+v -0.00741143 -0.06642519 0.14978269
+v -0.01232707 -0.06642519 0.15001359
+v -0.01724271 -0.06642519 0.15019096
+v -0.02216054 -0.06642519 0.15028465
+v -0.00001495 -0.06597389 0.14931755
+v -0.02242376 -0.06642519 0.15027797
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_61.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f74b444258c8f23e4d995c200aa722c9ceec356
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_61.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_62.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..920294b12b49a29918432d140ddee32a4a693afe
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_62.obj
@@ -0,0 +1,589 @@
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_63.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78d3a4428adb14da884490a8659db7c348076a33
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_63.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_64.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d78c8419fd508b31b477ea07e8c03c0a71e6e418
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_64.obj
@@ -0,0 +1,610 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_65.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d3b53d5d475ac193321aeda927a6ea1a5054007
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_65.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_66.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8756d77d01cc16db91d899e8c395688d814d0f05
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_66.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_67.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f2212e078935144b6fdd29e6e1a7c8ff9df8f62
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_67.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.06336052 -0.05983313 -0.09873690
+v 0.06336052 -0.05983306 -0.11762017
+v 0.06336052 -0.04593996 -0.11301262
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+v 0.05265009 -0.04593992 -0.12633692
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+v 0.04501597 -0.04593988 -0.13700160
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+
diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_68.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b607a51edba70ebcb9a8d813dc7bd29f30fb303
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_68.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.06332041 -0.06086263 -0.09733008
+v -0.06332041 -0.04344074 -0.11512563
+v -0.06332041 -0.06086256 -0.11653532
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+v -0.04524322 -0.05953402 -0.13801031
+v -0.04359043 -0.06070047 -0.13801031
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+
diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_69.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdd14609d56a2d9faecb76115c6fe442b26e03d9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_69.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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+v -0.06632953 -0.04133836 0.14542756
+v -0.06738193 -0.04133835 0.14108001
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+
diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_7.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55b1cbdf556bc874ec863235c5a8b4707e74de03
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_7.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v -0.00001898 0.05050186 0.11243131
+v -0.00001898 0.05079692 0.11364856
+v -0.04126605 0.02870578 0.11243123
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_70.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a47a9aeca89b0f1e5653690731cb408b6ac429f8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_70.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_71.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c46a2ea8419d4d5b7d6af7edc727bb180ad1e66
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_71.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_72.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbcb1a1f91b94c99adf727c8df8a70699dd19d3d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_72.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_73.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9da70ad1353b10c5c2fc1ddb0847ec8929f87f9e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_73.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_74.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57cb242b0fac2ee0ea5db53becc65e3657cc0ec1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_74.obj
@@ -0,0 +1,616 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_75.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3924c0e54ba883c24cba630c259770d61ffcc6e9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_75.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_76.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb887a4582807735979310b54c4b2eb3f1e18422
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_76.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_77.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..236ccabe2da1975ba4807f556b2880898401fefa
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_77.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_78.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4ffeafa0cc07f4bd1de7a1a3e15017e84dddaf2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_78.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_79.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faa3998b1fd3e2d4cfc77a727deae2549d5bafdf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_79.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_8.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1107c8063c0d9280df92e38f910e354224105c5f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_8.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_80.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b9bfc9361f11d410572f49617d4e92e6f107975
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_80.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_81.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f67f43c18bd7e7aa97d8316203305e0eb90fabcf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_81.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_82.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..871aca530ad3565b3b1b1b6a20a3f5a0f2b08854
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_82.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_83.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97530ac0bdfd103897ac1bbb39898d17cfb6170e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_83.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_84.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70212bf50febdf3dce3422bdcc0848f585d55383
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_84.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_85.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f6c91cadf56c826fee8a7d091d56b2d91452659
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_85.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_86.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ccd04f2c668a4778ef3a900aed7c92eb4b8dff6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_86.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_87.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8c838cbb66ef1b8ab92a26dda4e423fd98312e1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_87.obj
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diff --git a/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_9.obj b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2208abca7540b5fc01a09d3130b4dbccd1431046
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/mjcf/mesh/vase_8_collision_9.obj
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