diff --git a/.gitattributes b/.gitattributes
index 001b15b146c99a2943b130ccc6744f875dffa994..972a9bd20e3f637a40942f2cc9b8510d8eeea7c2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4939,3 +4939,5 @@ dataset/livingroom_supplies/ornaments/544a9e90a91959c2b5ff6b03d5082e22/diffuser_
 dataset/livingroom_supplies/ornaments/544a9e90a91959c2b5ff6b03d5082e22/mesh/diffuser_bottle_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/houseplant_017.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mesh/houseplant_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/candle_holder_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mesh/candle_holder_010.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/candle_holder_010.urdf b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/candle_holder_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bd2b3b3dcd37a7a7a0cdb3dd5240dff7d234fe0f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/candle_holder_010.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="candle_holder_010">
+   <link name="candle_holder_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/candle_holder_010.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_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <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>4c7b484400305edc8df728759075ccde</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>candle_holder</category>
+         <name>spiral candle holder</name>
+         <color>beige</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>decorative candle holder with spiral column and circular base</description>
+         <min_height>0.1650</min_height>
+         <max_height>0.1650</max_height>
+         <real_height>0.1650</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416203531</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/4c7b484400305edc8df728759075ccde/candle_holder_010.usd b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/candle_holder_010.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8ce8c7305682f5a095b0ce8749d6b8a1f56f40cf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/candle_holder_010.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b879463141fa003aad1e9344c4be64b838dbe687f37b0a3522c364527f12f0d
+size 4979811
diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mesh/candle_holder_010.glb b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mesh/candle_holder_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..05831f8c770d6ffafe0770ded8c243fd77bcff6c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mesh/candle_holder_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de9fa52fed5916091c3de26cadd746e40f5a4320292083a25bdb9495e54bf485
+size 14935768
diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mesh/candle_holder_010.mtl b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mesh/candle_holder_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bc48b52387566cf17f8bc276edc416ffecbd55f3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mesh/candle_holder_010.mtl
@@ -0,0 +1,6 @@
+newmtl candle_holder_010_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/4c7b484400305edc8df728759075ccde/mesh/candle_holder_010.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mesh/candle_holder_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a3023ba618b009a633ea342d9c1c4cff9d38644
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mesh/candle_holder_010.obj
@@ -0,0 +1,111430 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl candle_holder_010_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mesh/candle_holder_010_collision.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mesh/candle_holder_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4be666ec94ab359fde7d987980fb92ce320f3f0d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mesh/candle_holder_010_collision.obj
@@ -0,0 +1,29257 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mesh/candle_holder_010_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mesh/candle_holder_010_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1fae17f71448cb3bf86e11cf6ab6dfa5a7de3faf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mesh/candle_holder_010_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57b157088d1557fdaaf421e93d45fe871bec76853b79e3f0da109590895e685f
+size 11468594
diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4d5620b93943da42b48332636434ff3b40b3602f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl candle_holder_010_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_010_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1fae17f71448cb3bf86e11cf6ab6dfa5a7de3faf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57b157088d1557fdaaf421e93d45fe871bec76853b79e3f0da109590895e685f
+size 11468594
diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/candle_holder_010.xml b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/candle_holder_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3bd415786df20d7d646dee46c5b30612b2992bc6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/candle_holder_010.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="candle_holder_010">
+  <asset>
+    <material name="material_0" texture="texture_0_candle_holder_010_geometry_Looks_material_0" reflectance="0.2" />
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+    <mesh name="visual_mesh_0" file="mesh/candle_holder_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_4" file="mesh/candle_holder_010_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_12" file="mesh/candle_holder_010_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/candle_holder_010_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/candle_holder_010_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/candle_holder_010_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/candle_holder_010_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/candle_holder_010_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/candle_holder_010_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/candle_holder_010_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/candle_holder_010_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/candle_holder_010_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/candle_holder_010_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/candle_holder_010_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/candle_holder_010_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/candle_holder_010_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/candle_holder_010_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/candle_holder_010_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/candle_holder_010_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/candle_holder_010_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/candle_holder_010_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/candle_holder_010_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/candle_holder_010_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/candle_holder_010_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/candle_holder_010_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/candle_holder_010_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/candle_holder_010_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/candle_holder_010_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/candle_holder_010_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/candle_holder_010_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/candle_holder_010_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/candle_holder_010_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/candle_holder_010_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/candle_holder_010_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/candle_holder_010_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/candle_holder_010_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/candle_holder_010_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/candle_holder_010_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/candle_holder_010_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/candle_holder_010_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/candle_holder_010_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/candle_holder_010_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/candle_holder_010_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/candle_holder_010_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/candle_holder_010_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/candle_holder_010_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/candle_holder_010_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/candle_holder_010_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/candle_holder_010_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/candle_holder_010_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/candle_holder_010_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/candle_holder_010_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="candle_holder_010">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" 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/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49e2d8596912f41895f1972009e53e59d78da5b9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010.obj
@@ -0,0 +1,111430 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl candle_holder_010_geometry_Looks_material_0
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+v 0.017965 -0.067066 -0.066247
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90216a01902708301dfdea0ee239948e485c4717
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision.obj
@@ -0,0 +1,29257 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_0.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47ffdbaf00076638997c4dc76c54dbdfdc272dbe
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_1.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09917536db2a9c00e6c864006d4f8cbc7b08ef86
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_10.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16cb85e10212d6aba2faba8b70d914f2ee790e11
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_10.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_11.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b709975034a84d6240961a8e3af09a7291123f30
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_11.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_12.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f8bb745054dfa740eb2d698a0e67aa2b8cc4dfa
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_12.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_13.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5700ecb4dcdcf1d6f0dbde0c47b44e483db1eac
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_13.obj
@@ -0,0 +1,442 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_14.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aab7061ce43ba4e57f7393d824c689c087119357
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_14.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_15.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c91994e0c5cfa8fc849f03490a5f7bc60b3f93a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_15.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_16.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76ed24792c81078b3bdd81bf5ff6573fca75be98
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_16.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_17.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2d2f29092897c1cc14c9cf69f2d1cc01f1f8919
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_17.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_18.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..198429a1cccb3f5963e95a86fd5bfb3164d9656d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_18.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_19.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8eee685533684bc4e840c19cb93bb9c3a24a51c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_19.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_2.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e33c167c1b4a396577f273a891dbc7786a4318db
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_2.obj
@@ -0,0 +1,595 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_20.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9cd43825fd7c13b63d016d72e43cf1a43b04af6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_20.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_21.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b5dc74486e148dc9279d46224fb653742004654
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_21.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_22.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7ba67033636e0aadae43951dc85bd79c1508b22
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_22.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_23.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c23780e86a80c997830d93494fb0f64f6d388c8b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_23.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_24.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eef8e942b6d23624c9d414b0537a0fab2d4b71b1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_24.obj
@@ -0,0 +1,574 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_25.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62992ab13ddba826bb3d1e1795d15fa193a7b5f4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_25.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_26.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc832a0c2d723e5f05063f7fb9a2543950be90c9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_26.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_27.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a36874a207f214c6b758cc69d5e8ff048298be9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_27.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_28.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5926328e2d4625c32c9bd76df00e0cfab7ec25cf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_28.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_29.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9b5392a648c2fc71687b868ad4c9b14059d4118
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_29.obj
@@ -0,0 +1,31 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_3.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05183d91b087c5f94ba5dd6982fe9118d3a0cabf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_3.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_30.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c28342b0c7f1297540b2b359cb31c8ce813b75af
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_30.obj
@@ -0,0 +1,535 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_31.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4525a9a4a27790eff9da20e1910768a63a20203d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_31.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_32.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..017a235d1a3a6b0f5daafc2af39a3c7188619a48
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_32.obj
@@ -0,0 +1,850 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_33.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f456de342d2a0e1c58e611a785f70e67f6f870d1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_33.obj
@@ -0,0 +1,751 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_34.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..909ddf1cfa0de68bf5cda96a5655a881d2183fb2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_34.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_35.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae71f74c335c30913d29ff184c815937174ca3f4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_35.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_36.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b585abbf5dd8ff10e71b8044a98c2dfae0461e5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_36.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_37.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4536aeb7312a579b2723ecbd9cda2030df3eac6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_37.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_38.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ccaa5a6e1642d000d156748f1917d610d43f207
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_38.obj
@@ -0,0 +1,712 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_39.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49c39a67ad27e0251effcb65610bb4e046ed8e2e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_39.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_4.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a557a7915dcaf8f79b07da026cce98929e0cbf55
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_4.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_40.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44246fa2c1bada434b9666699788d374b600d028
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_40.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_41.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ac2eb9851456553840a94eaf4f91c37c36f1ecb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_41.obj
@@ -0,0 +1,232 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_42.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae03f1866419ad84715a7323ea873451afa91c76
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_42.obj
@@ -0,0 +1,721 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_43.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55e397c0babfc28cd15effc53d57f129256b7a7f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_43.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_44.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5deddf09c573d7b8e850657a618ed739981932b5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_44.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_45.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f3cd49bf1714a963dc98886eb3a90d95838804a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_45.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_46.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9e14875fa9da595159778de93acfd1f74c550f7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_46.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_47.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37ca4631a8f66b8b4599a8c1d5b2edc283d06900
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_47.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_48.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f75a73871bdf7be29c924522e87862e90606670e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_48.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_49.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfc0e2d082b6188f2db0172ef55e7b91dada5951
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_49.obj
@@ -0,0 +1,949 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_5.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3a675fc00e44d1f5d2ce88322ef3112ad36b5f7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_5.obj
@@ -0,0 +1,754 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_50.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68ae46809c7afe6f7963eaf6faff26d8f4cf61cf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_50.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
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+v -0.03643046 0.02929480 -0.06267773
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_51.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d04c920634204e11987244a9a637a812e588db0c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_51.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_52.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c38b03abe31371fb4be029e810968d5060a55bd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_52.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_53.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c7c4712ce452a9188d3871e0259833f9b37198c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_53.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_54.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0d812d5bb98f576aaf1ee253b64668b70577ab8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_54.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_55.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77305e338f0e04411d87cc69d1d7c85f6a354bae
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_55.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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+v 0.00153231 0.02929640 -0.05813723
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_56.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c5273927216822da6231448b8aae113d6ecdf7c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_56.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_57.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b04efac609170bf7b9d099cc5b5ded9711568b3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_57.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_58.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b19a83651f79059fac5188f25cfc0f7290b9c0df
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_58.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_59.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dc330db197e6736565a06897677dabe52d128ea
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_59.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_6.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..049e0c7b129873aae1e14633d779d39c5b29b6b7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_6.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_60.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d12c8e6db14b5bb5dedeaaa133ee5f414792e11
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_60.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_61.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d39a0f1af00445334c4779a8c44345aad0a8c24
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_61.obj
@@ -0,0 +1,1003 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_7.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73c87710e14b5d2ab7436135d79d6128f1bccfe4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_7.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_8.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c01e2c43a74dfc5242b427171a47be9c499f80b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_8.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_9.obj b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53beada02b0a12a38d60cb281c17fae3c9fb9bd3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c7b484400305edc8df728759075ccde/mjcf/mesh/candle_holder_010_collision_9.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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