diff --git a/.gitattributes b/.gitattributes
index eb615eb10ff9409ab76f7d671908b03a8c722c57..77612052faebdbe94313044e4311bea35e915caa 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4899,5 +4899,5 @@ dataset/livingroom_supplies/ornaments/0ff120be6cc8572fbe0cd072da5914f5/diffuser_
 dataset/livingroom_supplies/ornaments/0ff120be6cc8572fbe0cd072da5914f5/mesh/diffuser_bottle_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mesh/watering_can_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/watering_can_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/houseplant_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mesh/houseplant_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/diffuser_bottle_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mesh/diffuser_bottle_025.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/diffuser_bottle_025.urdf b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/diffuser_bottle_025.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..12516d3c1a6ae639270179d72d74bfcffbefa87e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/diffuser_bottle_025.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="diffuser_bottle_025">
+   <link name="diffuser_bottle_025">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/diffuser_bottle_025.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/diffuser_bottle_025_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</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>180eed00992d58829ddc30ac5444265f</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>diffuser_bottle</category>
+         <name>gray diffuser bottle</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>matte gray rounded diffuser bottle with short neck and wide rim</description>
+         <min_height>0.1300</min_height>
+         <max_height>0.1300</max_height>
+         <real_height>0.1300</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518195322</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059750 -0.059403 -0.045492</min>
+            <max>0.059836 0.060082 0.084508</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </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/180eed00992d58829ddc30ac5444265f/diffuser_bottle_025.usd b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/diffuser_bottle_025.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/diffuser_bottle_025.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0a1e841184ac1a6cde0b80b109d0a5a66fb2e0751618e7d520b0baf8c4955c7
+size 4848808
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mesh/diffuser_bottle_025.glb b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mesh/diffuser_bottle_025.glb
new file mode 100644
index 0000000000000000000000000000000000000000..23e2035bf613a755f841027e9d4e2bae8e81358a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mesh/diffuser_bottle_025.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c264ee95d3def44ad20e661c58d97266d6ab582195589b9c9f3394596f1280b8
+size 15656596
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mesh/diffuser_bottle_025.mtl b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mesh/diffuser_bottle_025.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b175c413f3459aa2bf71c7205fe4e7bcc51c6dff
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mesh/diffuser_bottle_025.mtl
@@ -0,0 +1,6 @@
+newmtl diffuser_bottle_025_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/180eed00992d58829ddc30ac5444265f/mesh/diffuser_bottle_025.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mesh/diffuser_bottle_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..517048075656bebef1c1566aa2a1ed7b7c57db9d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mesh/diffuser_bottle_025.obj
@@ -0,0 +1,104808 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl diffuser_bottle_025_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mesh/diffuser_bottle_025_collision.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mesh/diffuser_bottle_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..807d3b6244c1efcd0b13d8156cca662cdb823d59
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mesh/diffuser_bottle_025_collision.obj
@@ -0,0 +1,34482 @@
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diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mesh/diffuser_bottle_025_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mesh/diffuser_bottle_025_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..97422657e8526eb3555713bb614b1fef848b8e59
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mesh/diffuser_bottle_025_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57425c58fa4d8ad72e5dfc38d115b742cb1652e6296cec3f45ad6bf54277d329
+size 12402677
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf0abaa8f0044ed8e40b4fe76059370e25560093
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl diffuser_bottle_025_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 diffuser_bottle_025_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..97422657e8526eb3555713bb614b1fef848b8e59
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57425c58fa4d8ad72e5dfc38d115b742cb1652e6296cec3f45ad6bf54277d329
+size 12402677
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/diffuser_bottle_025.xml b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/diffuser_bottle_025.xml
new file mode 100644
index 0000000000000000000000000000000000000000..86e10298c3d2fb016f2378169817eb9567c5a4d8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/diffuser_bottle_025.xml
@@ -0,0 +1,82 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="diffuser_bottle_025">
+  <asset>
+    <material name="material_0" texture="texture_0_diffuser_bottle_025_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_diffuser_bottle_025_geometry_Looks_material_0" type="2d" file="mesh/diffuser_bottle_025_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/diffuser_bottle_025.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/diffuser_bottle_025_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/diffuser_bottle_025_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/diffuser_bottle_025_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/diffuser_bottle_025_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/diffuser_bottle_025_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/diffuser_bottle_025_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/diffuser_bottle_025_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/diffuser_bottle_025_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/diffuser_bottle_025_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/diffuser_bottle_025_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/diffuser_bottle_025_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/diffuser_bottle_025_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/diffuser_bottle_025_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/diffuser_bottle_025_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/diffuser_bottle_025_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/diffuser_bottle_025_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/diffuser_bottle_025_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_23" file="mesh/diffuser_bottle_025_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/diffuser_bottle_025_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/diffuser_bottle_025_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/diffuser_bottle_025_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/diffuser_bottle_025_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/diffuser_bottle_025_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/diffuser_bottle_025_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/diffuser_bottle_025_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_32" file="mesh/diffuser_bottle_025_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/diffuser_bottle_025_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="diffuser_bottle_025">
+      <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" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd074c6867d45cbf53e8a314510421f7f7bc8a74
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025.obj
@@ -0,0 +1,104808 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl diffuser_bottle_025_geometry_Looks_material_0
+v -0.001662 -0.059383 0.001069
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diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0faaf27952fde858c00b37f06b13a26c2a147156
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision.obj
@@ -0,0 +1,34482 @@
+# https://github.com/mikedh/trimesh
+
+o diffuser_bottle_025_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_0.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08410353bc6ce657b521d8999cdc03b0634283a2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_1.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..617484633616274cbb5e8d9d73af733b0141054e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_1.obj
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+
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_10.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93b38e3aa427d1b2b89d8053f48813b4e7fa235e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_10.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.00015775 0.02374328 0.05349164
+v -0.00007815 0.02377060 0.06802880
+v 0.00015775 0.01693679 0.05349161
+v 0.00015775 0.02406800 0.05037159
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+v -0.00007815 0.01732117 0.06802877
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+v 0.00007209 0.02406800 0.05037159
+v -0.00316329 0.02359892 0.06802880
+v -0.00102702 0.02406676 0.05037159
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+v -0.01330302 0.01178616 0.06802875
+v -0.01330302 0.01167916 0.06736672
+v -0.00007815 0.01731371 0.06796828
+v -0.01321999 0.01170161 0.05349159
+v -0.01069495 0.01432543 0.05037155
+v -0.01330302 0.01149007 0.06522849
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+v -0.00965646 0.02207246 0.05037158
+v -0.00932304 0.02205250 0.06802879
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+
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_11.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d74a53fb685c4fa54ac6ea9065fe4e03f30a7b7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_11.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.01287665 -0.02298209 0.06803036
+v 0.01287665 -0.02253014 0.05822611
+v 0.01303344 -0.02290185 0.06803036
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+v 0.01287665 -0.01487517 0.05822614
+v 0.01391507 -0.02234224 0.06803036
+v 0.01287665 -0.01544749 0.06736819
+v 0.01912770 -0.00140879 0.06803043
+v 0.01905534 -0.00140879 0.06736824
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+v 0.01287665 -0.01487728 0.05829619
+v 0.01883463 -0.00140877 0.06309184
+v 0.01882860 -0.00140877 0.06241621
+v 0.01881653 -0.00140876 0.06095364
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+v 0.01882256 -0.00140876 0.05881543
+v 0.01882980 -0.00140875 0.05822618
+v 0.01540336 -0.02133073 0.06803036
+v 0.01287665 -0.01523419 0.06522999
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+v 0.02214408 -0.01280569 0.05822614
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+
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_12.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55470343078674e7d9459fdda87d9655595f99ca
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_12.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.01391043 -0.02243856 0.06803036
+v -0.01391043 -0.02192922 0.05822611
+v -0.01383881 -0.02197785 0.05822611
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+v -0.00360812 -0.01930852 0.06522998
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+
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_13.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b16e778a14e5de54305b92e1185e6d45847867cb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_13.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.01883102 -0.00140875 0.05822733
+v 0.01277586 0.01212045 0.05822596
+v 0.01884804 -0.00124188 0.05349089
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+v 0.01284397 0.01212045 0.05667750
+v 0.01280992 0.01200125 0.06095284
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+v 0.01284154 0.01200123 0.06426466
+v 0.01287317 0.01200123 0.06522960
+v 0.01297656 0.01200123 0.06653184
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diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_14.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a65a29b6d6326f24bcb48d8b08f748ce237a274
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_14.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_15.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c67c95a31d89123eee0ec62ff38f9a4864f7d62
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_15.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_16.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2cb3989425bf24203e2c175ce487dfb85b4d881
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_16.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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+f 4 24 23
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+f 4 9 7
+f 4 7 6
+f 4 6 5
+f 8 9 15
+f 8 15 16
+f 8 16 14
+f 10 17 26
+f 10 26 20
+f 10 20 29
+f 10 29 31
+f 10 31 35
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+f 10 36 32
+f 10 32 27
+f 10 27 18
+f 10 18 11
+f 11 18 19
+f 11 19 12
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+f 14 16 23
+f 14 23 24
+f 14 24 22
+f 17 25 26
+f 18 27 28
+f 18 28 19
+f 20 21 29
+f 21 30 31
+f 21 31 29
+f 22 24 26
+f 22 26 25
+f 27 32 33
+f 27 33 28
+f 30 34 31
+f 31 34 35
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+f 36 40 41
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+f 40 46 47
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+f 43 49 44
+f 46 49 48
+f 46 48 50
+f 46 50 47
+
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_17.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a193d97dd71ee3e1172356cb93372abbb923fce
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_17.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.00111126 0.02578220 0.04685399
+v 0.00111126 0.02472019 0.04866398
+v 0.00314826 0.02565394 0.04685399
+v 0.00016277 0.02575911 0.04685399
+v 0.00016277 0.02577450 0.04685700
+v 0.00016277 0.02471762 0.04866398
+v 0.00270705 0.02459192 0.04866398
+v 0.00324602 0.02564624 0.04685399
+v 0.00016277 -0.00042408 0.04685390
+v 0.00016277 0.00845413 0.04866392
+v 0.00319846 0.02454575 0.04866398
+v 0.00512714 0.02544872 0.04685399
+v 0.00016277 -0.00042409 0.04852251
+v 0.02714844 -0.00042408 0.04685390
+v 0.00102407 0.00772304 0.04866392
+v 0.00478368 0.02427384 0.04866398
+v 0.00710338 0.02513320 0.04685399
+v 0.00537285 0.02541024 0.04685399
+v 0.00996469 -0.00042409 0.04862031
+v 0.01060671 0.00022234 0.04866389
+v 0.00925399 0.00100473 0.04866389
+v 0.02709560 0.00099961 0.04685390
+v 0.02581157 -0.00042409 0.04866389
+v 0.00528566 0.02418662 0.04866398
+v 0.00906112 0.02311949 0.04866397
+v 0.00967671 0.02437133 0.04685399
+v 0.01524347 -0.00042409 0.04866389
+v 0.02706654 0.00140235 0.04685391
+v 0.02568740 0.00140234 0.04866390
+v 0.02577459 0.00014025 0.04866389
+v 0.02578780 -0.00005214 0.04866389
+v 0.00971106 0.02289118 0.04866397
+v 0.01120116 0.02222423 0.04866397
+v 0.01342575 0.02260132 0.04685398
+v 0.02691066 0.00299279 0.04685391
+v 0.02562664 0.00182304 0.04866390
+v 0.01168201 0.02199592 0.04866397
+v 0.01398850 0.02228324 0.04685398
+v 0.02681290 0.00353918 0.04685391
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+v 0.01400964 0.02060558 0.04866397
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+v 0.01598323 0.01919214 0.04866396
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+v 0.02498462 0.00581709 0.04866391
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+v 0.02254867 0.01157087 0.04866393
+v 0.02214973 0.01227118 0.04866394
+v 0.02231881 0.01200183 0.04866393
+f 1 2 3
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+f 59 61 60
+f 61 63 64
+f 61 64 62
+
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_18.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa8ecb4e8b9f07c955830b6313df4018a189d272
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_18.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00016013 0.00021990 0.04837159
+v 0.00016013 0.00021990 0.04937159
+v 0.00016013 0.01216182 0.04837159
+v 0.00016013 0.01216182 0.04937159
+v 0.01151160 0.00021990 0.04837159
+v 0.01151160 0.00021990 0.04937159
+v 0.01151160 0.01216182 0.04837159
+v 0.01151160 0.01216182 0.04937159
+f 2 4 1
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+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_19.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..134e120d94de350f5cd30b84c1760789f39cd1ce
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_19.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.02494491 -0.00124384 0.05349089
+v -0.02484588 -0.00124385 0.05822573
+v -0.01813593 -0.00124384 0.05349089
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+v -0.01818786 -0.00124385 0.05667619
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+v -0.02134478 -0.01443848 0.05349084
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+v -0.02322757 -0.01067485 0.05349085
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+f 27 30 28
+
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_2.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9ad57d3b5229140035aa3a1b37cd2be7bae005a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_2.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v 0.01189091 0.01312864 0.06803049
+v 0.01193903 0.01312864 0.06830706
+v 0.02050086 0.01312864 0.06803049
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+
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_20.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a431b4a81e5d17cd4b069e975a8b32d375dda97
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_20.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.01260522 -0.01443848 0.05349084
+v -0.02134570 -0.01443848 0.05349084
+v -0.01270952 -0.01443849 0.05667614
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+v -0.02127758 -0.01455447 0.05349084
+v -0.02123075 -0.01447943 0.05822568
+v -0.02125417 -0.01443849 0.05822568
+v -0.01276274 -0.01443849 0.05822568
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+v -0.02039417 -0.01568369 0.05822567
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+v -0.00102716 -0.02598535 0.05822563
+v 0.00006274 -0.02605244 0.05349079
+v -0.02056234 -0.01559043 0.05349083
+v -0.01997694 -0.01638987 0.05349083
+v -0.02012169 -0.01605555 0.05822567
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+v -0.01945966 -0.01709150 0.05349083
+v -0.01940645 -0.01702897 0.05822567
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+v -0.01003160 -0.02398734 0.05822564
+v -0.01045096 -0.02387702 0.05349080
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+
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_21.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ccf527e6b931bda7870cc74fa18756bf29413bc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_21.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.01215542 0.01301544 0.05349062
+v 0.01215542 0.02060926 0.05349065
+v 0.01215542 0.01315169 0.05106572
+v 0.01552432 0.00494586 0.05025940
+v 0.01794189 -0.00042409 0.05025938
+v 0.01877221 -0.00042411 0.05349057
+v 0.01339639 0.01990081 0.05349064
+v 0.01215542 0.02098865 0.05025946
+v 0.01215542 0.01321668 0.05026069
+v 0.01258409 0.01281425 0.05025943
+v 0.02072507 -0.00042409 0.05025938
+v 0.02500925 -0.00042411 0.05349057
+v 0.01367831 0.02009156 0.05025945
+v 0.01446357 0.01917978 0.05349064
+v 0.01474549 0.01937683 0.05025945
+v 0.01215542 0.01440092 0.05025943
+v 0.02530662 -0.00041990 0.05025938
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+v 0.02487923 0.00140360 0.05349058
+v 0.01583198 0.01811292 0.05349064
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+v 0.02485348 0.00353944 0.05025939
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+v 0.02454067 0.00353942 0.05349058
+v 0.02435916 0.00567527 0.05025940
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+
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_22.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d383ac497bee2db808bec87669e055e9fcb17e1a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_22.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.00101019 0.02577785 0.04685399
+v -0.00316157 0.02562652 0.04685399
+v -0.00102619 0.02406711 0.05037094
+v 0.00007216 0.02406967 0.05037094
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+v -0.02100704 0.01267943 0.05037090
+v -0.02095106 0.01275637 0.05037090
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+f 1 18 22
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+
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_23.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdba5c50ecafafe05286a3f33566f1e5e3fc2a19
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_23.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.00152713 -0.00042409 0.04844962
+v 0.00152713 -0.01776964 0.05008033
+v 0.00152713 -0.00042408 0.04685390
+v -0.00705033 -0.00042409 0.04920105
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+v -0.00764159 -0.00042409 0.04925190
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+v 0.00152713 -0.02804637 0.04685380
+v -0.02707187 -0.00042408 0.04685390
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+v -0.02066890 -0.01604376 0.05008034
+v -0.01865694 -0.01850931 0.05008033
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+
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_24.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..692aae86c242f5a3824efa056643bc57d70f5f8f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_24.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01443069 -0.02166984 0.05349081
+v 0.01518868 -0.02116799 0.05349081
+v 0.01510988 -0.02110802 0.05822565
+v 0.01443069 -0.02155589 0.05822565
+v 0.01443069 -0.01264249 0.05349084
+v 0.01571130 -0.02074211 0.05349081
+v 0.01540436 -0.02086809 0.05822565
+v 0.01443069 -0.01330431 0.05822568
+v 0.01443069 -0.01263449 0.05349593
+v 0.01884697 -0.00124584 0.05349089
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+v 0.01882623 -0.00124585 0.05822573
+v 0.02502396 -0.00124584 0.05349089
+v 0.01688717 -0.01975240 0.05349082
+v 0.01741394 -0.01916059 0.05822566
+v 0.02490471 -0.00124585 0.05822573
+v 0.02499597 -0.00286936 0.05349088
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+v 0.01748859 -0.01922856 0.05349082
+v 0.01801121 -0.01868672 0.05349082
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+v 0.02488709 -0.00395904 0.05349088
+v 0.02472947 -0.00441692 0.05822571
+v 0.01951061 -0.01704720 0.05349083
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+v 0.02006225 -0.01630142 0.05349083
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+v 0.02133768 -0.01451194 0.05349084
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+v 0.02411561 -0.00811382 0.05349086
+v 0.02390926 -0.00844174 0.05822570
+v 0.02188725 -0.01354423 0.05349084
+v 0.02171304 -0.01363421 0.05822568
+v 0.02377135 -0.00894359 0.05822570
+v 0.02380661 -0.00921550 0.05349086
+v 0.02187895 -0.01334030 0.05822568
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+v 0.02214441 -0.01280645 0.05822568
+v 0.02299676 -0.01131888 0.05349085
+v 0.02283604 -0.01141286 0.05822569
+f 1 2 3
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+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 10
+f 1 10 14
+f 1 14 18
+f 1 18 25
+f 1 25 30
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+f 1 6 2
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+f 48 51 50
+f 49 50 51
+
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_25.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51e00e7a582c8e9bcbd0a0754676b8b753c46e81
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_25.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.00016013 0.01216305 0.04866408
+v 0.00534030 0.01216305 0.04866408
+v 0.00016013 0.01216305 0.04900158
+v 0.00016013 0.02471713 0.04866413
+v 0.01151160 0.01305556 0.04866409
+v 0.00553253 0.01216305 0.04866502
+v 0.00090905 0.01216305 0.04907935
+v 0.00016013 0.01548474 0.05025943
+v 0.00016013 0.02455608 0.04907409
+v 0.00111127 0.02472081 0.04866413
+v 0.01151160 0.01381898 0.05025443
+v 0.01151160 0.02205068 0.04866412
+v 0.00545697 0.01216305 0.04868361
+v 0.00317801 0.01216305 0.04904453
+v 0.00104238 0.01527084 0.05025943
+v 0.00016013 0.02408647 0.05025946
+v 0.00110905 0.02408893 0.05025946
+v 0.00270577 0.02459173 0.04866413
+v 0.00115794 0.02408524 0.05025946
+v 0.00305689 0.02393157 0.05025946
+v 0.00993600 0.01488728 0.05025942
+v 0.00538252 0.01216305 0.04869641
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+v 0.01119826 0.02222647 0.04866412
+v 0.01151160 0.02134011 0.05025945
+v 0.00319690 0.02454748 0.04866413
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+v 0.00971044 0.02289032 0.04866412
+v 0.01077825 0.02172490 0.05025945
+v 0.00528474 0.02418851 0.04866413
+v 0.00528807 0.02354925 0.05025946
+v 0.00906042 0.02311898 0.04866412
+v 0.00751703 0.02295916 0.05025945
+v 0.00979822 0.02215640 0.05025945
+f 1 2 6
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+f 1 14 7
+f 1 7 3
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+f 1 16 9
+f 1 9 4
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+f 28 34 29
+f 30 31 33
+f 30 33 32
+
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_26.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2fdfaaad02dc0eadc18f93f7f783584e56419de
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_26.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.01151161 0.00049330 0.04866404
+v 0.01524503 -0.00042409 0.04866404
+v 0.01794256 -0.00042409 0.05025937
+v 0.01151860 0.01381636 0.05025942
+v 0.01151161 0.01381856 0.05025443
+v 0.01151161 0.02205087 0.04866412
+v 0.02581256 -0.00042409 0.04866404
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+v 0.01168239 0.02199807 0.04866412
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+v 0.02535481 -0.00042409 0.05006728
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+v 0.02568798 0.00140409 0.04866405
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+v 0.02562778 0.00182208 0.04866405
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+v 0.02096065 0.01404075 0.04866409
+v 0.02215053 0.01226757 0.04866409
+v 0.02112164 0.01271857 0.05025942
+f 1 2 3
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+f 1 6 11
+f 1 11 16
+f 1 16 21
+f 1 21 27
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+f 12 18 13
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+f 16 20 21
+f 18 22 19
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+f 20 27 21
+f 23 28 24
+f 24 28 29
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+f 45 49 50
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+f 48 50 49
+
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_27.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d222f0ee042a2f29ec7f43265d29fbbbac144ab
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_27.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.01443069 -0.01263652 0.05349593
+v 0.01443069 -0.01264309 0.05349084
+v 0.01442519 -0.01263784 0.05349084
+v 0.01443069 -0.01330632 0.05822568
+v 0.01443069 -0.02166948 0.05349081
+v 0.00040121 -0.01911246 0.05349082
+v 0.00040121 -0.01933705 0.05822566
+v 0.01443069 -0.02155523 0.05822565
+v 0.01392394 -0.02188881 0.05822565
+v 0.01392394 -0.02200174 0.05349081
+v 0.00040121 -0.02605199 0.05349079
+v 0.00040121 -0.02597977 0.05822563
+v 0.01232132 -0.02286854 0.05822565
+v 0.01321121 -0.02243776 0.05349081
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+
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_28.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..497b56807d51cfcde49ef09a27de29e65e497306
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_28.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_29.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa6f167206a54f339d82bfcb2680d9c1d2097151
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_29.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_3.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0051a539a378c785d474b5cd9ecdb6bcaa7138b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_3.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_30.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ce46892c0f9cec0f92a5c29d8c463c51efbbaf8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_30.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.01977243 -0.01716530 0.05026646
+v 0.01940458 -0.01716532 0.05349082
+v 0.01969386 -0.01726719 0.05026646
+v 0.00913692 -0.01716530 0.05026646
+v 0.01904208 -0.01757111 0.05349082
+v 0.01875102 -0.01833799 0.05026645
+v 0.00932085 -0.01716532 0.05349082
+v 0.00152993 -0.01792147 0.05026645
+v 0.00913692 -0.01716530 0.05027308
+v 0.01855459 -0.01811634 0.05349081
+v 0.01800996 -0.01868838 0.05349081
+v 0.01748676 -0.01923093 0.05349081
+v 0.01768497 -0.01941683 0.05026645
+v 0.00152993 -0.01912278 0.05349081
+v 0.00152993 -0.02629654 0.05026642
+v 0.01688498 -0.01975381 0.05349081
+v 0.01647428 -0.02048672 0.05026644
+v 0.00152993 -0.02601500 0.05349078
+v 0.00324597 -0.02615889 0.05026642
+v 0.01625464 -0.02029815 0.05349081
+v 0.01571001 -0.02074416 0.05349080
+v 0.01518680 -0.02116962 0.05349080
+v 0.01541001 -0.02134032 0.05026644
+v 0.00324597 -0.02587378 0.05349078
+v 0.00538342 -0.02580762 0.05026643
+v 0.00428523 -0.02570395 0.05349079
+v 0.01454932 -0.02159150 0.05349080
+v 0.01373862 -0.02245849 0.05026644
+v 0.00692089 -0.02543669 0.05026643
+v 0.00641555 -0.02528476 0.05349079
+v 0.00543878 -0.02550642 0.05349079
+v 0.01392254 -0.02200176 0.05349080
+v 0.01321006 -0.02243795 0.05349080
+v 0.01241543 -0.02292240 0.05349080
+v 0.01340648 -0.02265423 0.05026644
+v 0.00799409 -0.02510776 0.05026643
+v 0.00744410 -0.02498622 0.05349079
+v 0.01210115 -0.02339342 0.05026643
+v 0.01186901 -0.02320306 0.05349079
+v 0.01184044 -0.02353464 0.05026643
+v 0.00965298 -0.02450711 0.05026643
+v 0.00965298 -0.02420860 0.05349079
+v 0.01134759 -0.02346941 0.05349079
+v 0.01049225 -0.02384303 0.05349079
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 17
+f 1 17 23
+f 1 23 28
+f 1 28 35
+f 1 35 38
+f 1 38 40
+f 1 40 41
+f 1 41 36
+f 1 36 29
+f 1 29 25
+f 1 25 19
+f 1 19 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
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+f 2 18 24
+f 2 24 26
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+f 2 42 44
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+f 2 43 39
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+f 2 32 27
+f 2 27 22
+f 2 22 21
+f 2 21 20
+f 2 20 16
+f 2 16 12
+f 2 12 11
+f 2 11 10
+f 2 10 5
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 7 9 8
+f 7 8 14
+f 8 15 18
+f 8 18 14
+f 12 16 17
+f 12 17 13
+f 15 19 18
+f 16 20 17
+f 17 20 21
+f 17 21 22
+f 17 22 23
+f 18 19 24
+f 19 25 26
+f 19 26 24
+f 22 27 28
+f 22 28 23
+f 25 29 30
+f 25 30 31
+f 25 31 26
+f 27 32 28
+f 28 32 33
+f 28 33 34
+f 28 34 35
+f 29 36 37
+f 29 37 30
+f 34 38 35
+f 34 39 40
+f 34 40 38
+f 36 41 42
+f 36 42 37
+f 39 43 40
+f 40 43 41
+f 41 43 44
+f 41 44 42
+
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_31.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e88919fed43a3d2d4040f036acfd5985589f7bdc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_31.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00913608 -0.01716530 0.05027308
+v 0.00913766 -0.01716530 0.05026646
+v 0.00931993 -0.01716532 0.05349082
+v 0.01178927 -0.01141666 0.05026648
+v 0.01977102 -0.01716530 0.05026646
+v 0.01940490 -0.01716532 0.05349082
+v 0.01877251 -0.00042411 0.05349088
+v 0.01794359 -0.00042409 0.05026652
+v 0.02076002 -0.01586088 0.05026646
+v 0.01950951 -0.01704733 0.05349082
+v 0.02500925 -0.00042411 0.05349088
+v 0.02529771 -0.00042409 0.05026652
+v 0.02151604 -0.01478915 0.05026647
+v 0.02058727 -0.01558723 0.05349082
+v 0.02006107 -0.01630171 0.05349082
+v 0.02503144 -0.00073383 0.05349088
+v 0.02530563 -0.00042573 0.05026652
+v 0.02221975 -0.01355028 0.05026647
+v 0.02133694 -0.01451223 0.05349083
+v 0.02501400 -0.00182358 0.05349087
+v 0.02532782 -0.00073873 0.05026652
+v 0.02316913 -0.01166410 0.05026648
+v 0.02188692 -0.01354374 0.05349083
+v 0.02499498 -0.00286909 0.05349087
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+v 0.02317389 -0.01165427 0.05026648
+v 0.02299637 -0.01131835 0.05349084
+v 0.02246066 -0.01239499 0.05349083
+v 0.02488721 -0.00396048 0.05349087
+v 0.02507264 -0.00501088 0.05026650
+v 0.02478102 -0.00500599 0.05349086
+v 0.02364303 -0.01059074 0.05026648
+v 0.02347820 -0.01018108 0.05349084
+v 0.02467958 -0.00714614 0.05026649
+v 0.02438161 -0.00714124 0.05349085
+v 0.02409632 -0.00927976 0.05026649
+v 0.02380628 -0.00921423 0.05349085
+v 0.02411534 -0.00811301 0.05349085
+f 1 2 5
+f 1 5 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
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+f 2 12 17
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+f 2 21 25
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+f 26 32 27
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+f 30 31 34
+f 31 35 34
+f 32 36 33
+f 33 36 37
+f 34 35 36
+f 35 38 36
+f 36 38 37
+
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_32.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9efbcccd3593004e928834c5f8c0b3cfc6ce87d6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_32.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.00110886 0.02408985 0.05025947
+v 0.00016013 0.02408661 0.05025947
+v 0.00016013 0.02408661 0.05026136
+v 0.00016013 0.02374298 0.05349066
+v 0.00111121 0.02374298 0.05349066
+v 0.00199183 0.02367578 0.05349066
+v 0.00305680 0.02393160 0.05025947
+v 0.00016013 0.01548467 0.05025944
+v 0.00016013 0.01693601 0.05349063
+v 0.00316130 0.02357606 0.05349066
+v 0.00400553 0.02379720 0.05025947
+v 0.00104311 0.01527114 0.05025944
+v 0.01215541 0.01301767 0.05349062
+v 0.00429202 0.02337879 0.05349066
+v 0.00538165 0.02318802 0.05349066
+v 0.00528772 0.02354898 0.05025947
+v 0.01151667 0.01381762 0.05025943
+v 0.01215541 0.01321821 0.05026069
+v 0.01215541 0.01315425 0.05106572
+v 0.01215541 0.02061048 0.05349065
+v 0.00751628 0.02261788 0.05349065
+v 0.00751628 0.02295933 0.05025946
+v 0.01215541 0.01440184 0.05025943
+v 0.01215541 0.02098770 0.05025946
+v 0.01168105 0.02126843 0.05025946
+v 0.01178790 0.02082075 0.05349065
+v 0.00843683 0.02229596 0.05349065
+v 0.00931276 0.02198921 0.05349065
+v 0.00979769 0.02215724 0.05025946
+v 0.01077812 0.02172584 0.05025946
+v 0.01038008 0.02154156 0.05349065
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+f 21 27 22
+f 22 27 28
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+f 25 31 26
+f 28 31 29
+f 29 31 30
+
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_33.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2824d4894a0098778d8bd439309c6a0a9e69ce8f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_33.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.01164813 -0.01367269 0.05008100
+v -0.02218036 -0.01367269 0.05008100
+v -0.01170847 -0.01367269 0.05030031
+v -0.00316293 -0.01576948 0.05008099
+v -0.02148873 -0.01488492 0.05008100
+v -0.02152122 -0.01413866 0.05349083
+v -0.02178116 -0.01367271 0.05349083
+v -0.01324955 -0.01367271 0.05349083
+v -0.00102770 -0.01636127 0.05008099
+v -0.02080407 -0.01586542 0.05008099
+v -0.02098278 -0.01499084 0.05349082
+v -0.02127753 -0.01455478 0.05349083
+v 0.00152993 -0.01912338 0.05349081
+v 0.00098452 -0.01734302 0.05008099
+v -0.02066713 -0.01604731 0.05008099
+v -0.01946027 -0.01709137 0.05349082
+v -0.01997551 -0.01638995 0.05349082
+v -0.02056269 -0.01559010 0.05349082
+v 0.00152993 -0.02601428 0.05349078
+v 0.00152993 -0.01777160 0.05008098
+v 0.00120732 -0.01748380 0.05008099
+v -0.01968771 -0.01734800 0.05008099
+v -0.01882898 -0.01832850 0.05008098
+v -0.01850406 -0.01815908 0.05349081
+v 0.00110985 -0.02604917 0.05349078
+v 0.00152993 -0.02635688 0.05008095
+v -0.01865491 -0.01851164 0.05008098
+v -0.01743644 -0.01926417 0.05349081
+v 0.00115859 -0.02638678 0.05008095
+v -0.00102770 -0.02605540 0.05349078
+v -0.00102770 -0.02639924 0.05008095
+v 0.00110985 -0.02639051 0.05008095
+v -0.01767782 -0.01948965 0.05008098
+v -0.01656611 -0.02046641 0.05008097
+v -0.01680980 -0.01980861 0.05349081
+v -0.00121801 -0.02638802 0.05008095
+v -0.00316293 -0.02588845 0.05349078
+v -0.00316293 -0.02624101 0.05008095
+v -0.01637579 -0.02062837 0.05008097
+v -0.01620869 -0.02033063 0.05349081
+v -0.00420733 -0.02571777 0.05349079
+v -0.00528191 -0.02590836 0.05008095
+v -0.00331146 -0.02622357 0.05008095
+v -0.01539173 -0.02141202 0.05008097
+v -0.01514108 -0.02119776 0.05349080
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+v -0.00595264 -0.02540256 0.05349079
+v -0.00639826 -0.02530165 0.05349079
+v -0.00696223 -0.02550221 0.05008096
+v -0.01372301 -0.02250341 0.05008097
+v -0.01383905 -0.02206363 0.05349080
+v -0.00688564 -0.02516709 0.05349079
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+v -0.00793237 -0.02520445 0.05008096
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+v -0.01238849 -0.02295443 0.05349080
+v -0.00956860 -0.02425885 0.05349079
+v -0.00973571 -0.02455286 0.05008096
+v -0.01270646 -0.02312509 0.05008097
+v -0.01180595 -0.02360102 0.05008096
+v -0.01132088 -0.02349763 0.05349079
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 21
+f 1 21 20
+f 1 20 26
+f 1 26 29
+f 1 29 32
+f 1 32 31
+f 1 31 36
+f 1 36 38
+f 1 38 43
+f 1 43 42
+f 1 42 49
+f 1 49 54
+f 1 54 58
+f 1 58 60
+f 1 60 59
+f 1 59 55
+f 1 55 50
+f 1 50 44
+f 1 44 39
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+f 1 34 33
+f 1 33 27
+f 1 27 23
+f 1 23 22
+f 1 22 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
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+f 5 10 11
+f 5 11 12
+f 5 12 6
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+f 6 16 24
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+f 6 52 48
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+f 6 30 25
+f 6 25 19
+f 6 19 13
+f 6 13 8
+f 6 8 7
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+f 9 13 14
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 13 19 26
+f 13 26 20
+f 13 20 21
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+f 15 22 16
+f 16 22 23
+f 16 23 24
+f 19 25 26
+f 23 27 24
+f 24 27 28
+f 25 29 26
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+f 25 32 29
+f 27 33 28
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+f 28 34 35
+f 30 36 31
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+f 30 38 36
+f 34 39 40
+f 34 40 35
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+f 37 43 38
+f 39 44 45
+f 39 45 40
+f 41 46 42
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+f 42 47 48
+f 42 48 49
+f 44 50 51
+f 44 51 45
+f 48 52 49
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+f 50 55 51
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+f 53 57 54
+f 54 57 58
+f 55 59 56
+f 56 60 61
+f 56 59 60
+f 57 61 58
+f 58 61 60
+
diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_4.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7bc1bc34b2cf154222fc6ac6720b0facc8fc246
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_4.obj
@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
+v 0.00178563 0.02489299 0.08453880
+v 0.00178563 0.02275641 0.08442083
+v 0.00178563 0.02702742 0.08453396
+v 0.00110879 0.02702742 0.08453074
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diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_5.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6d00caf2b2d332a9be02ce0cda97691927822f3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_5.obj
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diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_6.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3fc57486662b3d1d9ec09578f0f417e7d13587e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_6.obj
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diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_7.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ce91c9ceade11481472344390bd7258fb7fc7f9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_7.obj
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diff --git a/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_8.obj b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96d60d667bc16dc2866d1783750dfd22074caa8d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/180eed00992d58829ddc30ac5444265f/mjcf/mesh/diffuser_bottle_025_collision_8.obj
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