diff --git a/.gitattributes b/.gitattributes
index 7b792f0aa9319861b247c14b53885854b01e52a1..69590ebf1a7eef4f1d3dd7355ecdc74a3cc4baaf 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4945,3 +4945,5 @@ dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/candle_ho
dataset/livingroom_supplies/ornaments/5d123bd0fcb358e681e0961b4472f58b/mesh/candle_holder_030.glb filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/diffuser_bottle_022.usd filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/diffuser_bottle_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/houseplant_005.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/houseplant_005.urdf b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/houseplant_005.urdf
new file mode 100644
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/houseplant_005.usd b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/houseplant_005.usd
new file mode 100644
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mesh/houseplant_005.glb b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mesh/houseplant_005.glb
new file mode 100644
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mesh/houseplant_005.mtl b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mesh/houseplant_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3da522da7a6a854771000b68ac27b1efe199b170
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mesh/houseplant_005.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mesh/houseplant_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c83267f357aae7214ab3647cf959308dfd02c876
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mesh/houseplant_005_collision.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mesh/houseplant_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f084b459eea80fc8406753f0f6e3476db3f47168
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mesh/houseplant_005_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mesh/houseplant_005_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mesh/houseplant_005_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c55842b9f86513a8ae0a189704f300cc230ff714
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mesh/houseplant_005_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c8b96c6e8f3bd12dfe5cc469cfe857947fd936cf146325bfdb222eead2d73a5
+size 10390832
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1a314db8c090303b7a130a575740a924d89915d9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl houseplant_005_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 houseplant_005_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c55842b9f86513a8ae0a189704f300cc230ff714
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c8b96c6e8f3bd12dfe5cc469cfe857947fd936cf146325bfdb222eead2d73a5
+size 10390832
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/houseplant_005.xml b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/houseplant_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..38f588149bc4e73eac2563c3a910c7120034a8ca
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/houseplant_005.xml
@@ -0,0 +1,214 @@
+
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b36c0b9b769f2dd8fc04ab6b3f0a28d104d46271
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005.obj
@@ -0,0 +1,111872 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl houseplant_005_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e26c81e74b03e149285c13c5fe076d3bc2462e90
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision.obj
@@ -0,0 +1,45180 @@
+# https://github.com/mikedh/trimesh
+
+o houseplant_005_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_0.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1c7b6e43bf08cd498b76987d48ca99bbf6ee6f4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_1.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6bb9b13053dba957351ee76d9180021d6e1b8df
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_10.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d343fb05055d3138c1b7e55038a08dfc6cf78fe
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_10.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_11.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2000fff3f33990a1f9ec2ddf61e67cbc4b6fc28
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_11.obj
@@ -0,0 +1,733 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_12.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe8c2a93fab3ac2d31a661efd586cbf782db5215
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_12.obj
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_13.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bd8a46f6a75ef09c62ab3e8e683211a0d58bb21
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_13.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_14.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e68a04ee15adf61ba670b5970399438546b19d26
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_14.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_15.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccbc85a6bf409b444ea3ddb7406969b69722fe6a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_15.obj
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_16.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91306d8399293f73075345d0c0a0890d5a59e5ff
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_16.obj
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_17.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f1e82affd61963f96687f98be50cca82a375f7b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_17.obj
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_18.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaa34e961655485ac7585c6a76ff7c09850959cb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_18.obj
@@ -0,0 +1,2131 @@
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_19.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..849a44995bace6b84a1aa27fecac7d875c952c6d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_19.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_2.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d64b5b50b9b53c519a595672e3c033270bd3c3e8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_2.obj
@@ -0,0 +1,1129 @@
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_20.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a1b925d75dab5ce661fa0936292c2ca0b9b3ae5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_20.obj
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_21.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60965d128d1c2a4a510745912125efc73a564fe2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_21.obj
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_22.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c6fa0fd0db862f7a07db1b9a01c6c40c939879b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_22.obj
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_23.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e865c104a25623c5c84ed90827afe6307125a727
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_23.obj
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+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_24.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5448d92d4261d90eb9d2a3a1261fac3551ba805
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_24.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_25.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84ab5b5a2d916475be34b3ef4740089aa6b808f3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_25.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_26.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adb2d13ad9e1d2024b726f38177f69f8ee1579f3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_26.obj
@@ -0,0 +1,988 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_27.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..103a740213291fb310913f846d8ab011b39c77f8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_27.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_28.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fba44776d2d97c59ac73f6d091f869df55e9aeb2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_28.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_29.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bfa5fb4a5296d677676b60bfac56adb4196536b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_29.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_3.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..910d7a4b6562f9804b93a7a0364a0c482a15dc03
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_3.obj
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_30.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c9fcf322627081ce84950a28facaedf2eb666a5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_30.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_31.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aeee87a41465a52954d6e6d701bf2eb26d06420
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_31.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_32.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b19bf8147088dce36f5c85c93f555ff990627d27
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_33.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15921df98b303bc3cf08763c199f576f7023855a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_33.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_34.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84f1a33f97ff5ed1e556ce5ae369874f7b18916a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_34.obj
@@ -0,0 +1,1348 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_35.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f931f37434b56fa0da40fbe4741266da40edcded
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_35.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_36.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b37f567f76791e1d21cecffad2c5327074d1116
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_36.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_37.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae27c8749e3b191a3dc9efda38fa5753c31df7fb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_37.obj
@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_38.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e953aa50e5437a499111a1583f72bb940104b2e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_38.obj
@@ -0,0 +1,1063 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_39.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d96d61d0990c68d31c6081638fc8ab3c7176a3c6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_39.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_4.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55e9ed1375bd50e5f94463b0a3dea2625d3a4632
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_4.obj
@@ -0,0 +1,1843 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_40.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c354765c78d9d48a2b3747efc4375efab8e81df
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_40.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.00159032 0.00278743 -0.01587393
+v 0.00046220 0.00541905 -0.01424399
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_41.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42cd701467c8b05c850ccd9a3b48b64a8d5f8be9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_41.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00020121 0.02962866 0.01905278
+v 0.00020121 0.02852043 0.01834573
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+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_42.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27823dd26a857b44ea3fcdbc0031413363a1d40e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_42.obj
@@ -0,0 +1,877 @@
+# https://github.com/mikedh/trimesh
+v -0.03226892 -0.00639057 0.03852453
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_43.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32b503e3a921db253e36aaff38dea9f7b19aa998
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_43.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_44.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41142c17eacec52aab687170d0b2d8bd7351531a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_44.obj
@@ -0,0 +1,598 @@
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_45.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..759f71d31d22de120ff9a5c06f4c3d61b5895787
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_45.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_46.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..704401252b919f39974ef87552baa7e2c91e0d7c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_46.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_47.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cee1fec4b8bf08d1b1a296236443650d04472aa3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_47.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_48.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdbd95b99790ac3fe15645c33000bd9c02cf28cf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_48.obj
@@ -0,0 +1,544 @@
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_49.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3ff4eac3656a362af7ab4510d707c5d90cab95d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_49.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_5.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de711831121146330f745880ccf902a1b3769778
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_5.obj
@@ -0,0 +1,1069 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_50.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e651cb65f02c504e3aa4215b2ebb55cb0f7aa5b3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_50.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_51.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b45dc7690e17157184a654c3e507184e088efd2d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_51.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_52.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64a614aeb6c2fffe5dc90f4d322d25f3f41d3123
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_52.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_53.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3351c38c69128d02d0e5dd0a0f0ee049a0bc70c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_53.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_54.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28b55ea2683ec1a81f62edebb3215308851dea0e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_54.obj
@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_55.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2d5d6fe6b908fb449ad76855f4f47980ab8e2f7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_55.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_56.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87258dfba13e66a525d0f817e6dd1390104fe72e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_56.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_57.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..410eb59652113a4a1265252d31c62d46ccf4d101
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_57.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_58.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..118df313405d09839b88215d3e5da2a2ab3927f7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_58.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01236959 -0.01104797 0.04071936
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+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_59.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..810ee002fa78a847d1538239792c28c92ff80e74
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_59.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_6.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb326a963ddbde77fec6857718bf69bb90d2d76d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_6.obj
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_60.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9e598f488eb57b233cc5eb93b68212594ddf440
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_60.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_61.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46537be24cf912cf2a81f5772b40dcf7a2d70112
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_61.obj
@@ -0,0 +1,544 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_62.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec84ea8b1386a1046ff614dd4f8664a844fc20b2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_62.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_63.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aabfe9a522ca180dda986af353c42b53e19903c8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_63.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_64.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5502a8b3a6bad1a85fb4652be995a95e8c4739a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_64.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_65.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0dfb92ae0a35e8c991084487f083390ed97c9c3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_65.obj
@@ -0,0 +1,505 @@
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_66.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b078fbbd4306cf1c78dece2f2d92ba69cd17acc7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_66.obj
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+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_67.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2933be91c09f2e2f057dc27c7f7e6b37c5953b4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_67.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.00020267 -0.00890851 0.03561791
+v 0.00020267 -0.00890849 0.02959983
+v -0.00014972 -0.00890851 0.03535209
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+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_68.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b521d866719f14ba3c0f089fe860cc88b22ccd5e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_68.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.01621908 0.00414789 0.00079785
+v -0.01621908 0.00499869 0.00016636
+v -0.01579874 0.00405619 0.00079784
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+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_69.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb1f0d5211668052a44df15ca8fe3a64f68ebfa9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_69.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.02829409 -0.01335962 0.00157170
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+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_7.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd4712e4aa384a1348e5f4b67d46e8bb7da351c3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_7.obj
@@ -0,0 +1,589 @@
+# https://github.com/mikedh/trimesh
+v 0.00165155 -0.01494977 0.00079705
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_70.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f3dad0e15e4fdb6b9a0c513f6131639e2ee6a1e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_70.obj
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_71.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6414ac20cc4efadf37c86cff051aa5097d9227bc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_71.obj
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_72.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..865896a9f85196e1c8d845f7d5b8d8f45b453b64
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_72.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_73.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c21e5d13b87cb8b5b032dd2d26d5dbcfd794e1a2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_73.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_74.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ffd036ac9d263f9c52f97da11e5d7de2a9ba952
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_74.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_75.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d12f1122fb68ec493801024d1b545025cc83a69
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_75.obj
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_76.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fac8a303571a109d99ffc24efa3f977df46a5108
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_76.obj
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_77.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fd62460bae8b5ee3ca4c35e6ab5d4d90116a53a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_77.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_78.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b99d2d41ebd0760bba6e4daaa79559fbb1056ec
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_78.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_79.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3099b473912f1b8369e9783a87bce8123f114877
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_79.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_8.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3e5574c33fbb191f9af32c55cddce9327925df1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_8.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_80.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1521abe8b1aad2e77cbae7ced88857565524e89
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_80.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01195217 0.01072020 -0.03248114
+v -0.01195217 0.01072020 -0.03148114
+v -0.01195217 0.01172889 -0.03248114
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+v -0.01095216 0.01072020 -0.03248114
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+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_81.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db13401734dc614c5977cfb8322bb588348c243e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_81.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_82.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c50c2c0fb0b4d5b1ff5dce36fcdcdb47b1860ca8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_82.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.01343385 -0.00385050 0.04034957
+v -0.01343385 -0.00425338 0.04026221
+v -0.00602868 -0.00424995 0.03263205
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+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_83.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57019763932cc0d32d7162af29e6e8d617a0f00d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_83.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_84.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c88ae3e7d7791f2cf1e6652afda56ba14480a64
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_84.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.02265156 0.00716418 0.02959898
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+v -0.02457524 0.00716418 0.02959898
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+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_85.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3e8d3328fd84d804bad9e810a57aff91b21d4b2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_85.obj
@@ -0,0 +1,748 @@
+# https://github.com/mikedh/trimesh
+v 0.00691579 -0.03825040 0.00838392
+v 0.00691579 -0.03822190 0.00905772
+v 0.00691579 -0.03787039 0.00695606
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_86.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11a37e9abecd6c0a91b446d691bbda7d4332ae02
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_86.obj
@@ -0,0 +1,94 @@
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+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_87.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a558428025f43b0094fb65a1ce57a5297a1ce8d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_87.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_88.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a72b14426cf329759dbef87c2afbb64ee7e7a8b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_88.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_89.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb1f572e92a748cef89d36d49e59a9f8f0bd3a0a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_89.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_9.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc56fab4697ee9caf0e4eaea8f3e6de959053884
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_9.obj
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_90.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..844741aa49df75f57f79779391038e96dbc3b2c9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_90.obj
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+f 41 45 44
+f 41 44 42
+f 43 47 54
+f 43 54 55
+f 43 55 50
+f 45 53 56
+f 45 56 46
+f 46 56 52
+f 46 52 57
+f 46 57 51
+f 46 51 47
+f 47 51 48
+f 47 48 58
+f 47 58 59
+f 47 59 54
+f 48 49 58
+f 49 60 58
+f 51 57 52
+f 54 59 61
+f 54 61 55
+f 58 60 62
+f 58 62 59
+f 59 62 61
+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_91.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89033878fa26e66562148c34e73e0e862103f89a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_91.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.02241612 0.00716827 0.00079786
+v -0.02241612 0.01975845 0.00079790
+v -0.01485938 0.00716827 0.00079786
+v -0.02241612 0.00716822 0.01321732
+v -0.01485938 0.01975845 0.00079790
+v -0.02241612 0.01975839 0.01742227
+v -0.01126120 0.00716827 0.00079948
+v -0.01126120 0.00716822 0.01242320
+v -0.02241612 0.00787192 0.01356393
+v -0.01126120 0.01975845 0.00079952
+v -0.02241612 0.01655909 0.01742226
+v -0.02056516 0.01975839 0.01742227
+v -0.01126120 0.00727051 0.01243296
+v -0.02058372 0.01971402 0.01742227
+v -0.02092989 0.01907564 0.01742227
+v -0.02211691 0.01701631 0.01742226
+v -0.02230037 0.01673039 0.01742226
+v -0.02241612 0.01072492 0.01488367
+v -0.02241612 0.00899341 0.01409605
+v -0.01126120 0.01975840 0.01310507
+v -0.01126120 0.00857809 0.01254687
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 19
+f 1 19 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 20
+f 2 20 10
+f 2 10 5
+f 3 5 10
+f 3 10 7
+f 4 8 9
+f 6 11 17
+f 6 17 16
+f 6 16 15
+f 6 15 14
+f 6 14 12
+f 7 10 20
+f 7 20 21
+f 7 21 13
+f 7 13 8
+f 8 13 12
+f 8 12 14
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 11
+f 8 11 18
+f 8 18 19
+f 8 19 9
+f 12 13 21
+f 12 21 20
+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_92.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e0c80eb384fc55346fc38adc6b0c5261244189a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_92.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.00020267 -0.01153746 0.02959891
+v -0.02264993 -0.01153746 0.02959891
+v 0.00020267 -0.01656544 0.02959889
+v 0.00020267 -0.01153736 0.00268666
+v -0.02264993 -0.01656544 0.02959889
+v -0.02264993 -0.01153735 0.00079779
+v 0.00020267 -0.01656534 0.00311235
+v 0.00020267 -0.01494660 0.00287554
+v -0.00925736 -0.01656534 0.00162098
+v -0.01847579 -0.01153735 0.00079779
+v -0.02264993 -0.01656535 0.00568065
+v -0.02264993 -0.01328946 0.00079778
+v -0.02264993 -0.01431466 0.00189163
+v -0.02264993 -0.01365367 0.00108816
+v -0.02231886 -0.01319054 0.00079778
+v -0.01886502 -0.01183462 0.00079779
+v -0.01145403 -0.01656534 0.00218764
+v -0.02264993 -0.01454598 0.00218483
+v -0.02264993 -0.01564006 0.00390736
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 12
+f 2 12 14
+f 2 14 13
+f 2 13 18
+f 2 18 19
+f 2 19 11
+f 2 11 5
+f 3 5 11
+f 3 11 17
+f 3 17 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 6 10 16
+f 6 16 15
+f 6 15 12
+f 7 9 8
+f 9 13 14
+f 9 14 12
+f 9 12 15
+f 9 15 16
+f 9 16 10
+f 9 17 18
+f 9 18 13
+f 11 19 17
+f 17 19 18
+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_93.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..569480aac56e10afc31ff3c9a385a7e5b21196a5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_93.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.02829409 -0.02212675 0.00080021
+v 0.02829409 -0.01934111 0.00080022
+v 0.03027353 -0.02212675 0.00080021
+v 0.02829409 -0.02212681 0.01537102
+v 0.02882997 -0.01993240 0.00080022
+v 0.02829409 -0.01335962 0.00157334
+v 0.03399629 -0.01335962 0.00171861
+v 0.03040750 -0.02212675 0.00094055
+v 0.02908396 -0.02026279 0.00080022
+v 0.02879146 -0.02212681 0.01550644
+v 0.03399629 -0.02052977 0.02065965
+v 0.03399629 -0.01991274 0.02154110
+v 0.03399629 -0.01867181 0.02290511
+v 0.03299819 -0.01827791 0.02248902
+v 0.03260912 -0.01708762 0.02289527
+v 0.03326223 -0.01571883 0.02439224
+v 0.03110751 -0.01556864 0.02218372
+v 0.02847941 -0.01652293 0.01842899
+v 0.02829409 -0.01557807 0.01865797
+v 0.02895167 -0.02007914 0.00080022
+v 0.02829409 -0.01335968 0.01950002
+v 0.03399629 -0.02212678 0.00686933
+v 0.03380928 -0.02212677 0.00624641
+v 0.03331358 -0.02212677 0.00500550
+v 0.03326670 -0.02212677 0.00489717
+v 0.03321534 -0.02212677 0.00479869
+v 0.03258734 -0.02212676 0.00378922
+v 0.03205983 -0.02212676 0.00295948
+v 0.03155408 -0.02212676 0.00232672
+v 0.03064363 -0.02212675 0.00118922
+v 0.03399629 -0.01335971 0.02595077
+v 0.02908955 -0.02212681 0.01550398
+v 0.03399629 -0.02184018 0.01684583
+v 0.03399629 -0.02123175 0.01897064
+v 0.03399629 -0.02116567 0.01914545
+v 0.03399629 -0.01736053 0.02396384
+v 0.03399629 -0.01714512 0.02410664
+v 0.03399629 -0.01509065 0.02530323
+v 0.03293567 -0.01429254 0.02470987
+v 0.03085017 -0.01414235 0.02248411
+v 0.03022887 -0.01489240 0.02140078
+v 0.02903205 -0.01494731 0.01988658
+v 0.02829409 -0.01494731 0.01896575
+v 0.02829409 -0.01468643 0.01905684
+v 0.02883500 -0.01354333 0.02013525
+v 0.02862455 -0.01335968 0.01992351
+v 0.03399629 -0.02212680 0.01487121
+v 0.03350729 -0.01335970 0.02553221
+v 0.03399629 -0.01479973 0.02542634
+v 0.02985152 -0.02212681 0.01549413
+v 0.03171485 -0.02212681 0.01543504
+v 0.03202633 -0.02212681 0.01541534
+v 0.03279947 -0.01335970 0.02485759
+v 0.03130791 -0.01335970 0.02321536
+v 0.03076811 -0.01335969 0.02258506
+f 1 2 5
+f 1 5 20
+f 1 20 9
+f 1 9 3
+f 1 3 8
+f 1 8 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 47
+f 1 47 52
+f 1 52 51
+f 1 51 50
+f 1 50 32
+f 1 32 10
+f 1 10 4
+f 1 4 19
+f 1 19 43
+f 1 43 44
+f 1 44 21
+f 1 21 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 9 7
+f 3 7 8
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 19
+f 5 7 20
+f 6 21 46
+f 6 46 55
+f 6 55 54
+f 6 54 53
+f 6 53 48
+f 6 48 31
+f 6 31 7
+f 7 22 23
+f 7 23 24
+f 7 24 25
+f 7 25 26
+f 7 26 27
+f 7 27 28
+f 7 28 29
+f 7 29 30
+f 7 30 8
+f 7 9 20
+f 7 31 49
+f 7 49 38
+f 7 38 37
+f 7 37 36
+f 7 36 13
+f 7 13 12
+f 7 12 11
+f 7 11 35
+f 7 35 34
+f 7 34 33
+f 7 33 47
+f 7 47 22
+f 10 32 33
+f 10 33 34
+f 10 34 35
+f 10 35 11
+f 13 36 14
+f 14 36 37
+f 14 37 16
+f 14 16 15
+f 16 37 38
+f 16 38 39
+f 16 39 17
+f 17 39 40
+f 17 40 41
+f 17 41 42
+f 17 42 43
+f 17 43 18
+f 18 43 19
+f 21 44 45
+f 21 45 46
+f 31 48 39
+f 31 39 49
+f 32 50 33
+f 33 50 51
+f 33 51 52
+f 33 52 47
+f 38 49 39
+f 39 48 53
+f 39 53 40
+f 40 53 54
+f 40 54 55
+f 40 55 46
+f 40 46 45
+f 40 45 44
+f 40 44 43
+f 40 43 42
+f 40 42 41
+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_94.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0eeb749f34d34104e0b0c6b7afb802dc0856b2c6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_94.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.01003084 0.02962910 0.01742101
+v -0.02241565 0.02962910 0.01742101
+v -0.01003084 0.02579039 0.01742099
+v -0.01003084 0.02962914 0.00546625
+v -0.02241565 0.01975839 0.01742097
+v -0.02241565 0.02962914 0.00412131
+v -0.02056550 0.01975839 0.01742097
+v -0.01003084 0.01975840 0.01347598
+v -0.01003084 0.02125894 0.00412128
+v -0.01370930 0.02561748 0.00412129
+v -0.01585528 0.02778370 0.00412130
+v -0.01813340 0.02948035 0.00412131
+v -0.01845833 0.02962914 0.00412131
+v -0.02241565 0.01975843 0.00412127
+v -0.01003084 0.01975843 0.00412127
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 9
+f 1 9 4
+f 1 4 13
+f 1 13 6
+f 1 6 2
+f 2 6 14
+f 2 14 5
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 14 15
+f 5 15 8
+f 5 8 7
+f 6 13 12
+f 6 12 11
+f 6 11 10
+f 6 10 9
+f 6 9 15
+f 6 15 14
+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_95.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c2bf0654f118d928d6a2216010f8ecca6db1261
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_95.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.02806654 -0.02092442 0.02055438
+v -0.02647856 -0.01722103 0.01737329
+v -0.02744673 -0.01975131 0.01738975
+v -0.02744673 -0.01975804 0.01737328
+v -0.02744673 -0.02092379 0.01737327
+v -0.02264993 -0.02092442 0.02055438
+v -0.02804321 -0.02092442 0.02084849
+v -0.02789741 -0.02054277 0.02055438
+v -0.02318703 -0.01467610 0.02055362
+v -0.02265046 -0.01469320 0.01737330
+v -0.02541656 -0.01604553 0.02538567
+v -0.02265046 -0.02092379 0.01737327
+v -0.02264993 -0.01604552 0.02055440
+v -0.02264993 -0.02092443 0.02538565
+v -0.02764131 -0.02092442 0.02208533
+v -0.02265046 -0.01467610 0.02055362
+v -0.02274483 -0.01467609 0.01943051
+v -0.02267219 -0.01467609 0.01924777
+v -0.02265046 -0.01467609 0.01921247
+v -0.02717314 -0.02092442 0.02276374
+v -0.02668058 -0.02092443 0.02346412
+v -0.02647963 -0.02092443 0.02363902
+v -0.02544254 -0.02092443 0.02450017
+v -0.02429834 -0.02092443 0.02530094
+v -0.02408573 -0.02092443 0.02538565
+v -0.02264993 -0.01604553 0.02538567
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 6
+f 1 6 14
+f 1 14 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 15
+f 1 15 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 12
+f 2 12 5
+f 2 5 4
+f 2 4 3
+f 2 8 11
+f 2 11 9
+f 6 13 26
+f 6 26 14
+f 6 12 10
+f 6 10 13
+f 7 15 11
+f 7 11 8
+f 9 16 19
+f 9 19 18
+f 9 18 17
+f 9 17 10
+f 9 11 26
+f 9 26 16
+f 10 17 18
+f 10 18 19
+f 10 19 13
+f 11 15 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 14
+f 11 14 26
+f 13 19 16
+f 13 16 26
+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_96.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e125312cd3d1507cfdf061421ca39736b350008
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_96.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.00020267 -0.01656544 0.02959889
+v -0.02264993 -0.01656544 0.02959889
+v 0.00020267 -0.02092445 0.02959887
+v 0.00020267 -0.01656534 0.00311235
+v -0.02264993 -0.02019141 0.02959888
+v -0.02264993 -0.01656535 0.00568065
+v -0.01912227 -0.02092445 0.02959887
+v 0.00020267 -0.02092436 0.00568063
+v 0.00020267 -0.01664129 0.00312080
+v -0.00448820 -0.02092434 0.00079775
+v -0.00515033 -0.01925942 0.00079776
+v -0.00722174 -0.01723096 0.00079777
+v -0.00814336 -0.01702017 0.00079777
+v -0.00927749 -0.01676118 0.00079777
+v -0.00925736 -0.01656534 0.00162098
+v -0.02194081 -0.02042651 0.02959887
+v -0.02264993 -0.02092443 0.02580984
+v -0.01145403 -0.01656534 0.00218764
+v -0.01145179 -0.01668352 0.00079777
+v -0.01356794 -0.01711618 0.00079777
+v -0.01514051 -0.01786032 0.00079776
+v -0.01890305 -0.01988920 0.00079776
+v -0.01927662 -0.02011833 0.00079776
+v -0.01967032 -0.02036965 0.00079776
+v -0.02043312 -0.02091538 0.00079775
+v -0.02044206 -0.02092434 0.00080057
+v -0.02264993 -0.02092437 0.00835325
+v 0.00020267 -0.02059667 0.00481795
+v 0.00020267 -0.01761840 0.00332097
+v -0.02041075 -0.02092434 0.00079775
+v 0.00020267 -0.01916683 0.00383405
+v 0.00020267 -0.02015974 0.00435561
+f 1 2 5
+f 1 5 16
+f 1 16 7
+f 1 7 3
+f 1 3 8
+f 1 8 28
+f 1 28 32
+f 1 32 31
+f 1 31 29
+f 1 29 9
+f 1 9 4
+f 1 4 15
+f 1 15 18
+f 1 18 6
+f 1 6 2
+f 2 6 27
+f 2 27 17
+f 2 17 5
+f 3 7 17
+f 3 17 27
+f 3 27 26
+f 3 26 30
+f 3 30 10
+f 3 10 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 5 17 16
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 23
+f 6 23 24
+f 6 24 25
+f 6 25 26
+f 6 26 27
+f 7 16 17
+f 8 10 28
+f 9 29 10
+f 10 30 25
+f 10 25 24
+f 10 24 23
+f 10 23 22
+f 10 22 21
+f 10 21 20
+f 10 20 19
+f 10 19 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 10 29 31
+f 10 31 32
+f 10 32 28
+f 14 19 15
+f 15 19 18
+f 25 30 26
+
diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_97.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fac9b549dcaeb0e57e2aea9f26131a88ff7034ba
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_97.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.00185483 -0.01044856 -0.00919150
+v 0.00182409 -0.01044855 -0.01099304
+v 0.00165033 -0.01044778 -0.01177980
+v 0.00165033 -0.01044779 -0.00833225
+v 0.00182646 -0.01044856 -0.00883964
+v 0.00017041 -0.01832200 -0.00453741
+v 0.00019287 -0.01832200 -0.00513239
+v 0.00179927 -0.01044855 -0.01135244
+v 0.00010894 -0.01832200 -0.00672554
+v 0.00115033 -0.01044777 -0.01325818
+v 0.00101676 -0.01044780 -0.00648843
+v -0.00039579 -0.01832201 -0.00333689
+v -0.00032959 -0.01832199 -0.00773579
+v -0.00391474 -0.01832198 -0.01202145
+v -0.00058255 -0.01044777 -0.01462935
+v -0.00095726 -0.01832199 -0.00904354
+v -0.00166294 -0.01832198 -0.00992392
+v -0.00259321 -0.01832198 -0.01090548
+v -0.00026458 -0.01044780 -0.00494662
+v 0.00054630 -0.01120239 -0.00555217
+v -0.00078941 -0.01832201 -0.00254560
+v -0.00396557 -0.01832198 -0.01205316
+v -0.00890180 -0.01832197 -0.01408122
+v -0.00932142 -0.01832197 -0.01415521
+v -0.01015358 -0.01832197 -0.01428055
+v -0.01022096 -0.01832197 -0.01428055
+v -0.00275634 -0.01044777 -0.01454932
+v -0.00505069 -0.01832197 -0.01263454
+v -0.00696560 -0.01832197 -0.01349530
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_98.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..372245e9fe79367e55d6f2b5515efed69fdd9f7a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_98.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_99.obj b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a68f02784d88f05d6306904966044aaa25540c44
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_collision_99.obj
@@ -0,0 +1,79 @@
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c55842b9f86513a8ae0a189704f300cc230ff714
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mjcf/mesh/houseplant_005_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/textures/material_0.png b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c55842b9f86513a8ae0a189704f300cc230ff714
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/video.mp4 b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d81b5bd6d74ab01506b46f599850c21f4f936e13
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/video.mp4
@@ -0,0 +1,3 @@
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