diff --git a/.gitattributes b/.gitattributes
index ea20ac545ee6753e0712aa9439df7cbd4793da43..598954399b6e5a7fc25ea5c8cd28b88b8ba87fdf 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4906,3 +4906,5 @@ dataset/livingroom_supplies/ornaments/2a2cc1db7ead5d89a977152e2372190b/mesh/wate
 dataset/livingroom_supplies/ornaments/2a2cc1db7ead5d89a977152e2372190b/watering_can_029.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/diffuser_bottle_016.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/33ea960dbc825010b4e5334ed628e865/mesh/diffuser_bottle_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/houseplant_028.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mesh/houseplant_028.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/houseplant_028.urdf b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/houseplant_028.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2ddbab81c5eee6ab9a17b5e11d6fc152a1364b86
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/houseplant_028.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="houseplant_028">
+   <link name="houseplant_028">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/houseplant_028.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/houseplant_028_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="6.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>32cfde88a17c51388e02ddc9ef315959</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>houseplant</category>
+         <name>potted palm</name>
+         <color>green,gray</color>
+         <shape>irregular</shape>
+         <material>organic</material>
+         <description>small potted palm with gray planter and saucer</description>
+         <min_height>0.2500</min_height>
+         <max_height>0.2500</max_height>
+         <real_height>0.2500</real_height>
+         <min_mass>4.0</min_mass>
+         <max_mass>8.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518200732</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.094738 -0.100574 -0.049956</min>
+            <max>0.093268 0.096182 0.200044</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/32cfde88a17c51388e02ddc9ef315959/houseplant_028.usd b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/houseplant_028.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d20ff1bd196ea2d09e4aef4b8fa7e1223137d521
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/houseplant_028.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25e5cb7446e1c36bbffae126171baace5c29837469283bf7e7023656d6db149b
+size 5098737
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mesh/houseplant_028.glb b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mesh/houseplant_028.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f9e5893b2b94ebe904ceb581d92a1796c5a16b1d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mesh/houseplant_028.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16aa99a39a42d6027d14be66c3bd4b1f0d9ab07a6f9571dc19211058da55863b
+size 14392928
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mesh/houseplant_028.mtl b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mesh/houseplant_028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8984cd3c65b19e61ac70348de9e7244943ed9f22
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mesh/houseplant_028.mtl
@@ -0,0 +1,6 @@
+newmtl houseplant_028_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/32cfde88a17c51388e02ddc9ef315959/mesh/houseplant_028.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mesh/houseplant_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cac95f31de8a61bc5d54ba67cda6cdf1fd50e69e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mesh/houseplant_028.obj
@@ -0,0 +1,135732 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl houseplant_028_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mesh/houseplant_028_collision.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mesh/houseplant_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7faa8ab41804781fdca0ef94d3e3b21770da66d5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mesh/houseplant_028_collision.obj
@@ -0,0 +1,14524 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mesh/material.mtl
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/houseplant_028.xml b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/houseplant_028.xml
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index 0000000000000000000000000000000000000000..e8c39769b972f46d826e8c525ac671f58999ad62
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+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/houseplant_028.xml
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+    <mesh name="collision_mesh_0_21" file="mesh/houseplant_028_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/houseplant_028_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/houseplant_028_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/houseplant_028_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/houseplant_028_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/houseplant_028_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/houseplant_028_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/houseplant_028_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/houseplant_028_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/houseplant_028_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/houseplant_028_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/houseplant_028_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/houseplant_028_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/houseplant_028_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/houseplant_028_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/houseplant_028_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/houseplant_028_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/houseplant_028_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/houseplant_028_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/houseplant_028_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/houseplant_028_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/houseplant_028_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/houseplant_028_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/houseplant_028_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/houseplant_028_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/houseplant_028_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/houseplant_028_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/houseplant_028_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/houseplant_028_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/houseplant_028_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/houseplant_028_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/houseplant_028_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/houseplant_028_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/houseplant_028_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/houseplant_028_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/houseplant_028_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/houseplant_028_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/houseplant_028_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/houseplant_028_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/houseplant_028_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/houseplant_028_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/houseplant_028_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/houseplant_028_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/houseplant_028_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/houseplant_028_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/houseplant_028_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/houseplant_028_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/houseplant_028_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/houseplant_028_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/houseplant_028_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/houseplant_028_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/houseplant_028_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/houseplant_028_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="houseplant_028">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_62" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_63" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_64" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_65" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_66" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_67" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_68" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_69" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_70" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_71" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_72" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_73" 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/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50928991f83d58ba40973aa4f1f3891edba0f739
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028.obj
@@ -0,0 +1,135732 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl houseplant_028_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23a770d48410f231890ab2e863136921115e6da4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision.obj
@@ -0,0 +1,14524 @@
+# https://github.com/mikedh/trimesh
+
+o houseplant_028_collision.obj
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+v -0.02115607 -0.00011558 0.12882506
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+v -0.02275344 0.00364016 0.13349872
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_0.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04c098821d6863ff6923a98f8941deafdfea1657
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_1.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31d111367d6c17534a72b358eacacacbaac43b37
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_1.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_10.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a95d5ee6a9671d94161c66b13617b54449d68ceb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_10.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_11.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed74cb1113ad3d711b36ba6039e836e22fd2d482
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_11.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+f 41 43 42
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_12.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcdc0ae081cf507010672405de2c70f3be295708
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_12.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.03877021 0.05205939 0.15221547
+v -0.04319841 0.05562036 0.14408095
+v -0.03877021 0.05250132 0.14426898
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+v -0.03877021 0.05652979 0.15666313
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+v -0.04733097 0.06468091 0.15304465
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+v -0.05072920 0.08118280 0.12808549
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+v -0.04141505 0.07721699 0.13344486
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+v -0.04626445 0.06468091 0.15304465
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+v -0.05066880 0.08118280 0.12808549
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+v -0.03877021 0.07473943 0.13651917
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+f 37 41 38
+f 38 41 40
+f 38 40 39
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_13.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c15c78fde89c16de4e3c4a9c44bc677e138a6a6e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_13.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.02004152 0.05590241 0.12387646
+v 0.02004152 0.05590241 0.12406575
+v 0.02004152 0.05621911 0.12387646
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+v 0.03251678 0.06456746 0.11664238
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+v 0.02450835 0.03913483 0.12813599
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+v 0.02757218 0.04574254 0.12768920
+v 0.02706912 0.04991036 0.12757461
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+v 0.03396528 0.04991037 0.12469024
+v 0.03526968 0.03868386 0.12295958
+v 0.03954944 0.05824351 0.11858931
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_14.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47392c6c91df7eba773710be52fd27eae91a8843
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_14.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.03372641 0.03226476 0.11525545
+v 0.04775035 0.04213477 0.10208344
+v 0.03465219 0.03134159 0.11525545
+v 0.03444646 0.06260307 0.11525556
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_15.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a1aa4ece6ddcb78f46e27cc443ba8ece94f68bf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_15.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.05318696 0.02772265 0.11525543
+v 0.06999160 0.01861535 0.11146304
+v 0.06215238 0.02225598 0.11525541
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_16.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc9824e235f772cff6a82b7314ab0f9e1c1e9a56
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_16.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.02481694 -0.06324429 0.11525510
+v 0.02568311 -0.06215486 0.11525510
+v 0.02481694 -0.06212349 0.11613266
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_17.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..307c564ab7af6351953d884339b6a0cdeee877bd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_17.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.01861779 -0.06066223 0.11525511
+v 0.01906765 -0.06264059 0.11427388
+v 0.01876285 -0.06267113 0.11525510
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_18.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bbfbb13d9f21f13459188d029b110c343df3cd7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_18.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.00798699 -0.00709046 0.10120881
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_19.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40cdf9935b62d213c61cb52add801e74acafe076
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_19.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.03685832 0.02317948 0.19829506
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_2.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e4f2a3d06afcea7518484d436c9ace1907f488b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_2.obj
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_20.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9164fdaa21e3af560a430a8f4126f290b7496843
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_20.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_21.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4186560940091fd9f35b538d8f33a35305634ddd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_21.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_22.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dafe86164969f1dfc698b059b4916a27f135992
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_22.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_23.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9dc37041e571ae08c3f0a42dfe5189a48ca9b9e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_23.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_24.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de081d0cb5055aa044c883408c1c595a4d2fea72
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_24.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_25.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15846aa59ca5555ec7af257770e4da28a509ffa9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_25.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_26.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c78a99279341cb1e1abc4f9cdcd8053873906c8e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_26.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_27.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14a3e1c34a811d05bb89f57e5dad13c67e1d2962
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_27.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_28.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..859bb7c10a3bcae6d2029536c98a62cc1ce2bb76
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_28.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_29.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eeae62bf59ac8255be3b10ce647fd498995ee0f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_29.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_3.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5748e02e1a1c8bf6515cb5b5c71552a3468401bd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_3.obj
@@ -0,0 +1,2395 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_30.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..503469380e5d644b61ff98fa3a3e90042465e3e4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_30.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_31.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6801db146890f03fd9cfb324e909971f3ecd3b80
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_31.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_32.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8de3efe5f1ec6c121d75818e9d5a15d1ad4e4ed
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_32.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+f 39 53 43
+f 41 45 54
+f 41 54 42
+f 42 54 55
+f 42 55 56
+f 43 53 57
+f 43 57 44
+f 44 57 58
+f 44 58 45
+f 45 59 55
+f 45 55 54
+f 45 58 59
+f 46 49 51
+f 46 51 50
+f 47 60 48
+f 48 60 55
+f 48 55 49
+f 49 58 51
+f 49 55 59
+f 49 59 58
+f 51 57 53
+f 51 53 52
+f 51 58 57
+f 55 60 56
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_33.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..301be673acb096d49f677dfc2af7d89a63ed5201
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_33.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.03877021 0.06172212 0.14597536
+v -0.03877021 0.06172215 0.13906359
+v -0.03646254 0.06172213 0.14551756
+v -0.02538280 0.07368758 0.13836440
+v -0.03877021 0.06239350 0.14569639
+v -0.03552688 0.06172215 0.13829462
+v -0.03877021 0.06434591 0.13739512
+v -0.02848723 0.06172213 0.14342168
+v -0.02538280 0.08174625 0.13445522
+v -0.03877021 0.06391339 0.14500789
+v -0.02538280 0.06421408 0.14170134
+v -0.03116314 0.06172216 0.13737186
+v -0.03877021 0.06662778 0.13598415
+v -0.02538280 0.06172214 0.14250249
+v -0.02538280 0.08275949 0.13372917
+v -0.03877021 0.07164460 0.13966807
+v -0.03877021 0.06456006 0.14460911
+v -0.02793291 0.06172216 0.13684253
+v -0.03511410 0.08070006 0.12770797
+v -0.03877021 0.06942865 0.13446233
+v -0.02538280 0.06172216 0.13645626
+v -0.02538280 0.08272450 0.13012038
+v -0.03565924 0.08202428 0.13011859
+v -0.03512851 0.08160002 0.13255068
+v -0.03877021 0.07447017 0.13760259
+v -0.03877021 0.07269699 0.13891341
+v -0.02551778 0.06172216 0.13647593
+v -0.03877021 0.07075288 0.13397591
+v -0.03511410 0.08188012 0.12770797
+v -0.03343019 0.08070006 0.12770797
+v -0.02538280 0.06298255 0.13594122
+v -0.03343019 0.08188012 0.12770797
+v -0.02538280 0.07908750 0.12980205
+v -0.03877021 0.07505714 0.13413867
+v -0.03877021 0.07473997 0.13651709
+f 1 2 6
+f 1 6 12
+f 1 12 18
+f 1 18 27
+f 1 27 21
+f 1 21 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 17
+f 1 17 16
+f 1 16 26
+f 1 26 25
+f 1 25 35
+f 1 35 34
+f 1 34 28
+f 1 28 20
+f 1 20 13
+f 1 13 7
+f 1 7 2
+f 2 7 6
+f 3 8 4
+f 4 9 10
+f 4 10 5
+f 4 8 11
+f 4 11 14
+f 4 14 21
+f 4 21 31
+f 4 31 33
+f 4 33 22
+f 4 22 15
+f 4 15 9
+f 6 7 13
+f 6 13 12
+f 8 14 11
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 12 13 19
+f 12 19 18
+f 13 20 19
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 18 19 27
+f 19 20 28
+f 19 28 29
+f 19 29 32
+f 19 32 30
+f 19 30 21
+f 19 21 27
+f 21 30 31
+f 22 32 29
+f 22 29 23
+f 22 33 32
+f 23 29 34
+f 23 34 35
+f 23 35 25
+f 23 25 24
+f 28 34 29
+f 30 32 33
+f 30 33 31
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_34.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..866c9928a8173109c75d0d245fd0d70d81e1df58
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_34.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.02407845 -0.01716266 0.11525527
+v 0.02625017 -0.01799365 0.11525526
+v 0.02407845 -0.01716266 0.11448071
+v 0.01297459 -0.01716266 0.11525527
+v 0.02651199 -0.01809582 0.11525526
+v 0.02632733 -0.01802430 0.11521752
+v 0.01804009 -0.01716265 0.11041727
+v 0.01266592 -0.01716266 0.11509970
+v 0.01135958 -0.02140276 0.11525525
+v 0.03073967 -0.02270203 0.11525525
+v 0.03737607 -0.02682804 0.11525457
+v 0.01770937 -0.01716264 0.11023058
+v 0.03737607 -0.02685528 0.11523603
+v 0.03737607 -0.02813413 0.11441248
+v 0.01264939 -0.01716266 0.11509109
+v 0.00996230 -0.01716266 0.11321031
+v 0.01138163 -0.02407623 0.11525458
+v 0.01137061 -0.02270203 0.11525525
+v 0.03737607 -0.03455898 0.11525454
+v 0.01427542 -0.01716264 0.10851927
+v 0.03737607 -0.03455897 0.11056152
+v 0.00922094 -0.01716264 0.10950236
+v 0.01148636 -0.02440488 0.11525458
+v 0.01271277 -0.02626269 0.11525457
+v 0.02097246 -0.03455898 0.11525454
+v 0.01397777 -0.01716264 0.10849213
+v 0.03171804 -0.03455896 0.11007957
+v 0.00948000 -0.01716264 0.10910052
+v 0.02065827 -0.03455898 0.11524659
+v 0.00978592 -0.01716264 0.10893303
+v 0.02754272 -0.03455897 0.11038873
+v 0.02659742 -0.03455897 0.11091172
+v 0.02491076 -0.03455897 0.11199610
+v 0.02300362 -0.03455898 0.11329431
+v 0.02231187 -0.03455898 0.11384379
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 20
+f 1 20 26
+f 1 26 30
+f 1 30 28
+f 1 28 22
+f 1 22 16
+f 1 16 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 5
+f 3 5 7
+f 4 8 9
+f 5 10 11
+f 5 11 7
+f 7 11 13
+f 7 13 14
+f 7 14 12
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 10 19 11
+f 10 18 25
+f 10 25 19
+f 11 19 21
+f 11 21 14
+f 11 14 13
+f 12 14 21
+f 12 21 20
+f 16 22 17
+f 17 23 18
+f 17 22 23
+f 18 23 24
+f 18 24 25
+f 19 25 29
+f 19 29 35
+f 19 35 34
+f 19 34 33
+f 19 33 32
+f 19 32 31
+f 19 31 27
+f 19 27 21
+f 20 21 26
+f 21 27 26
+f 22 28 24
+f 22 24 23
+f 24 29 25
+f 24 28 29
+f 26 27 31
+f 26 31 30
+f 28 30 31
+f 28 31 32
+f 28 32 33
+f 28 33 34
+f 28 34 35
+f 28 35 29
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_35.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23ece7fb1ec3fb1bd729040a318bafc1f3d4144d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_35.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.06009867 -0.00845334 0.13528981
+v -0.04020569 0.00405501 0.12530883
+v -0.04020569 0.00395639 0.12534595
+v -0.04020569 0.00010442 0.12698470
+v -0.04020569 -0.00164827 0.12827076
+v -0.04020569 -0.00178634 0.12837285
+v -0.04020569 -0.00406033 0.13010707
+v -0.04020569 -0.00425477 0.13328380
+v -0.06009867 -0.00845335 0.13751061
+v -0.06009867 0.00854660 0.13165173
+v -0.06009867 0.01091357 0.13166632
+v -0.06009867 0.01201252 0.13173261
+v -0.04020569 0.00825919 0.12684816
+v -0.04641019 -0.00227104 0.13635846
+v -0.04861858 -0.00328545 0.13672838
+v -0.05240438 -0.00469155 0.13718976
+v -0.05694578 -0.00730367 0.13713937
+v -0.04020569 0.01656046 0.13629489
+v -0.04109372 0.01656046 0.13670193
+v -0.06009867 -0.00788415 0.13776384
+v -0.06009867 0.01366657 0.13279728
+v -0.05715611 0.02032789 0.13520372
+v -0.05669456 0.02032789 0.13509898
+v -0.04234202 0.01863157 0.13219537
+v -0.04020569 0.01647313 0.13094508
+v -0.05278218 -0.00011260 0.13801844
+v -0.05694578 -0.00428015 0.13848114
+v -0.04020569 0.01898661 0.13428093
+v -0.04120277 0.01980941 0.13665288
+v -0.04445498 0.01656046 0.13734629
+v -0.05694578 -0.00011260 0.13882058
+v -0.06009867 0.00405496 0.13885241
+v -0.06009867 0.01588419 0.13438964
+v -0.05715611 0.02032788 0.13758230
+v -0.05232259 0.02032789 0.13496640
+v -0.04020569 0.01924867 0.13360607
+v -0.04020569 0.01780032 0.13161332
+v -0.04020569 0.01908806 0.13419608
+v -0.04020569 0.01931912 0.13400117
+v -0.04020569 0.01931912 0.13392163
+v -0.05154946 0.02032789 0.13524085
+v -0.05154946 0.02032788 0.13751336
+v -0.05269649 0.02032788 0.13777721
+v -0.05278218 0.01656045 0.13837648
+v -0.04861858 0.01656045 0.13787265
+v -0.06009867 0.01349466 0.13753455
+v -0.06009867 0.01588418 0.13707051
+v -0.04020569 0.01929939 0.13383014
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 20
+f 1 20 32
+f 1 32 46
+f 1 46 47
+f 1 47 33
+f 1 33 21
+f 1 21 12
+f 1 12 11
+f 1 11 10
+f 1 10 2
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 25
+f 2 25 37
+f 2 37 36
+f 2 36 48
+f 2 48 40
+f 2 40 39
+f 2 39 38
+f 2 38 28
+f 2 28 18
+f 2 18 8
+f 2 8 7
+f 2 7 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 8 18 19
+f 8 19 14
+f 9 17 16
+f 9 16 20
+f 12 21 22
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+f 13 23 24
+f 13 24 25
+f 14 26 27
+f 14 27 15
+f 14 19 26
+f 15 27 16
+f 16 27 20
+f 18 28 29
+f 18 29 19
+f 19 29 30
+f 19 30 31
+f 19 31 26
+f 20 27 32
+f 21 33 22
+f 22 33 47
+f 22 47 34
+f 22 34 43
+f 22 43 42
+f 22 42 41
+f 22 41 35
+f 22 35 23
+f 23 35 24
+f 24 35 36
+f 24 36 37
+f 24 37 25
+f 26 31 27
+f 27 31 32
+f 28 38 29
+f 29 38 39
+f 29 39 40
+f 29 40 41
+f 29 41 42
+f 29 42 43
+f 29 43 44
+f 29 44 45
+f 29 45 30
+f 30 45 31
+f 31 45 44
+f 31 44 32
+f 32 44 34
+f 32 34 46
+f 34 44 43
+f 34 47 46
+f 35 41 40
+f 35 40 48
+f 35 48 36
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_36.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60e1a1951bf69c70670309ba63efbaa869bbc3ad
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_36.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.05989494 0.02906548 0.13493228
+v -0.05989494 0.02906548 0.13707680
+v -0.05955755 0.03157072 0.13530835
+v -0.05855604 0.03157072 0.13530835
+v -0.05707908 0.02876182 0.13511523
+v -0.05694593 0.02489779 0.13483272
+v -0.05669432 0.02033180 0.13510024
+v -0.05715669 0.02033180 0.13520487
+v -0.05964660 0.02489779 0.13548319
+v -0.05955755 0.03157072 0.13665323
+v -0.05964660 0.02489779 0.13706244
+v -0.05694593 0.02489778 0.13788628
+v -0.05475582 0.02716868 0.13615639
+v -0.05155030 0.02033180 0.13524223
+v -0.05855604 0.03157072 0.13665323
+v -0.05232391 0.02033180 0.13496692
+v -0.05715669 0.02033179 0.13758225
+v -0.05922590 0.02219781 0.13604308
+v -0.05922590 0.02219781 0.13663406
+v -0.05707908 0.02876182 0.13702897
+v -0.05269723 0.02033179 0.13777775
+v -0.05268906 0.02070257 0.13771857
+v -0.05155030 0.02033179 0.13751320
+v -0.05475582 0.02716868 0.13648670
+v -0.05414478 0.02489779 0.13713478
+f 1 2 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 11
+f 1 11 2
+f 2 11 12
+f 2 12 10
+f 3 10 15
+f 3 15 4
+f 4 13 14
+f 4 14 5
+f 4 15 24
+f 4 24 13
+f 5 14 16
+f 5 16 6
+f 6 16 7
+f 7 16 14
+f 7 14 23
+f 7 23 21
+f 7 21 17
+f 7 17 8
+f 8 17 19
+f 8 19 18
+f 8 18 9
+f 9 18 19
+f 9 19 11
+f 10 12 15
+f 11 19 17
+f 11 17 12
+f 12 20 15
+f 12 17 21
+f 12 21 22
+f 12 22 23
+f 12 23 20
+f 13 24 23
+f 13 23 14
+f 15 20 25
+f 15 25 24
+f 20 23 25
+f 21 23 22
+f 23 24 25
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_37.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..388167cbb270084a8b6639fb2992d54decc48db0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_37.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00736510 0.03328044 0.13025862
+v -0.01041741 0.03644162 0.13150100
+v -0.00718106 0.03328044 0.13025862
+v -0.01125775 0.03328044 0.13031979
+v -0.00830267 0.03644162 0.13150100
+v -0.01398018 0.04059685 0.13440458
+v -0.01124386 0.04059685 0.13365634
+v -0.00329883 0.04059683 0.13825404
+v -0.00329883 0.03328043 0.13364925
+v -0.01319192 0.03515394 0.13220689
+v -0.01477190 0.04059684 0.13490811
+v -0.03876674 0.03328037 0.14926825
+v -0.00768804 0.04059684 0.13497164
+v -0.00999030 0.04059685 0.13401399
+v -0.00329883 0.04059681 0.14538589
+v -0.00329883 0.03328040 0.14132934
+v -0.03876674 0.03589512 0.15060475
+v -0.01636577 0.04059684 0.13626578
+v -0.03876674 0.03328035 0.15429420
+v -0.03607210 0.03328035 0.15407537
+v -0.03291561 0.03328036 0.15323536
+v -0.00329883 0.03757742 0.14385174
+v -0.02028273 0.04059680 0.14743532
+v -0.03876674 0.03656543 0.15386596
+v -0.03612418 0.03641361 0.15370126
+v -0.03296075 0.03595097 0.15320714
+v -0.00329883 0.03352175 0.14148699
+v -0.03876674 0.03656544 0.15135770
+v -0.01893193 0.04059683 0.13847286
+v -0.03612418 0.03328035 0.15408478
+v -0.03876674 0.03439543 0.15415773
+v -0.00329883 0.03695579 0.14349409
+v -0.00329883 0.03720215 0.14363762
+v -0.02383855 0.04059680 0.14668237
+v -0.02384896 0.04059680 0.14601883
+v -0.02310585 0.04059682 0.14254586
+v -0.01950489 0.04059683 0.13897875
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 16
+f 1 16 21
+f 1 21 20
+f 1 20 30
+f 1 30 19
+f 1 19 12
+f 1 12 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 5 8
+f 3 8 9
+f 4 10 11
+f 4 11 6
+f 4 12 10
+f 5 13 8
+f 5 7 14
+f 5 14 13
+f 6 11 18
+f 6 18 29
+f 6 29 37
+f 6 37 36
+f 6 36 35
+f 6 35 34
+f 6 34 23
+f 6 23 15
+f 6 15 8
+f 6 8 13
+f 6 13 14
+f 6 14 7
+f 8 15 22
+f 8 22 33
+f 8 33 32
+f 8 32 27
+f 8 27 16
+f 8 16 9
+f 10 12 11
+f 11 12 17
+f 11 17 18
+f 12 19 31
+f 12 31 24
+f 12 24 28
+f 12 28 17
+f 15 20 21
+f 15 21 22
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 20
+f 16 27 21
+f 17 28 29
+f 17 29 18
+f 19 30 31
+f 20 26 30
+f 21 27 32
+f 21 32 33
+f 21 33 22
+f 23 34 24
+f 24 31 25
+f 24 34 35
+f 24 35 28
+f 25 31 30
+f 25 30 26
+f 28 35 36
+f 28 36 37
+f 28 37 29
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_38.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d2252770f31eccbf75f380152d5fc8dc1b6a019
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_38.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.00347590 -0.05632132 0.15284781
+v 0.00764604 -0.05203952 0.14890694
+v 0.00766254 -0.03962370 0.14460917
+v 0.00388741 -0.04774403 0.14889960
+v 0.00338567 -0.05632132 0.15284781
+v 0.00347590 -0.05771506 0.15284781
+v 0.00764604 -0.05233655 0.14890694
+v 0.00787160 -0.03895195 0.14250075
+v 0.00794532 -0.02268386 0.12871690
+v 0.00551035 -0.02213549 0.12923573
+v 0.00455859 -0.03476612 0.14098475
+v 0.00670418 -0.03963284 0.14460549
+v 0.00268258 -0.04774403 0.14889960
+v 0.00338567 -0.05771506 0.15284781
+v 0.00131931 -0.04994204 0.14957665
+v -0.00009018 -0.04842491 0.14849852
+v -0.00148206 -0.05120327 0.14913140
+v -0.00202781 -0.05429694 0.14952879
+v 0.00378728 -0.06100522 0.15006600
+v 0.00404365 -0.05884835 0.15116989
+v 0.00764604 -0.05233655 0.14860889
+v 0.00789470 -0.04004867 0.14021201
+v 0.00784629 -0.04157951 0.14285766
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_39.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5af86c0e420fa799bfffea088b3fcd5edecaaf19
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_39.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00931407 0.00466301 0.11525535
+v 0.02508848 0.00904881 0.11935510
+v 0.02875730 0.00997125 0.12327354
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+v 0.02729182 0.00997124 0.12415170
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+v 0.01980045 0.01066729 0.11525537
+v 0.02007715 0.01031762 0.11566978
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+v 0.03548518 0.02057781 0.12032828
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+v 0.03339457 0.01380426 0.12313294
+v 0.03339457 0.01380425 0.12461176
+v 0.03028427 0.01240559 0.12474496
+v 0.03049179 0.01656162 0.12537029
+v 0.02665387 0.01239227 0.12443292
+v 0.01591642 0.02280567 0.12392480
+v 0.00931407 0.00779002 0.11711282
+v 0.01119973 0.01407070 0.11525538
+v 0.00931407 0.00791324 0.11704622
+v 0.01922656 0.03323239 0.12484987
+v 0.01984913 0.03565341 0.12424552
+v 0.01984913 0.03565342 0.12378671
+v 0.03548518 0.03127096 0.11525544
+v 0.03548518 0.01665154 0.12515445
+v 0.03548518 0.01723431 0.12533946
+v 0.02496806 0.03868384 0.12785562
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+v 0.01162502 0.01466347 0.11525538
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+v 0.01849894 0.02906303 0.12499910
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+v 0.02239579 0.03868385 0.12597966
+v 0.02224975 0.03868385 0.12406423
+v 0.03548518 0.03703214 0.11525547
+v 0.03548518 0.02073098 0.12570209
+v 0.03049179 0.03868385 0.12562075
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+v 0.03548518 0.03868389 0.11556505
+v 0.03548518 0.03868386 0.12278769
+v 0.03526997 0.03868386 0.12295913
+v 0.03318704 0.03868385 0.12427884
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+f 29 30 34
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+f 38 41 42
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+f 39 44 45
+f 39 45 40
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_4.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6be48bea917adf069a6c5e57b924ef97fcedc29f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_4.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.06010101 -0.02958530 0.15044203
+v -0.06010101 -0.03226489 0.15166817
+v -0.06010101 -0.02958529 0.14750775
+v -0.07360071 -0.03025206 0.14991852
+v -0.06943938 -0.03017368 0.15035981
+v -0.06527570 -0.03019458 0.15055601
+v -0.06527570 -0.03346256 0.15231136
+v -0.06111203 -0.03346256 0.15213713
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+v -0.08068482 -0.03088536 0.14400111
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+v -0.06943938 -0.03346256 0.15188473
+v -0.08068482 -0.03088537 0.14571576
+v -0.07688004 -0.03070771 0.14933476
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+v -0.08192806 -0.04018763 0.14406132
+v -0.08406268 -0.03979990 0.14446760
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+f 30 33 32
+f 33 39 38
+f 33 38 34
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_40.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85f698d50843ad103753da9ad84464200290fbe0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_40.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.06009659 -0.03737060 0.14754254
+v -0.05177481 -0.04469879 0.14795772
+v -0.06009659 -0.03737061 0.15027462
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+v -0.04445516 -0.01852156 0.14515269
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+f 1 4 5
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+f 29 38 30
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+f 31 38 32
+f 34 37 35
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_41.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c3df7e3626e20719df15b830796a122bdcad112
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_41.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.01106471 -0.02846935 0.11867064
+v 0.01106471 -0.02846935 0.12046876
+v 0.01106471 -0.02595664 0.12046876
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+v 0.01173371 -0.05116162 0.12395248
+v 0.01419163 -0.04179607 0.12478178
+v 0.01469237 -0.03763245 0.12447820
+v 0.01534521 -0.03488612 0.12415119
+v 0.01898902 -0.06455058 0.11525602
+v 0.01937264 -0.06526182 0.11525602
+v 0.01937264 -0.06526183 0.11635608
+v 0.01383896 -0.06186657 0.12089498
+v 0.01383896 -0.05332650 0.12419422
+v 0.01343379 -0.04991565 0.12448378
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+v 0.01646514 -0.03488612 0.12415119
+v 0.01780178 -0.01229766 0.11525621
+v 0.01777082 -0.04179607 0.12478178
+v 0.01718798 -0.03763245 0.12447820
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_42.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5147fe85da7ed21dee58b547258aa9ea913cc411
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_42.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_43.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c64965f34966498a03abdc6428d9d97fa91fac50
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_43.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_44.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73b8801c7c0f2277c4ef72196ffe3e825299d8b9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_44.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_45.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a9401cd3f17ea5e9734e46c20a38a7094597475
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_45.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_46.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33ebfaed2ef3c8bf052a013da3ce9cde04654c5b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_46.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_47.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b16560297f9eee6715029a47beb59cc3a2fe20b9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_47.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_48.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b0e2803cde5205c90df7781cde9010940ebc719
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_48.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00779439 -0.02151035 0.15396912
+v 0.00797223 -0.01825583 0.14791523
+v 0.00797223 -0.01890431 0.14865302
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_49.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4b5efa0c185c10983b94c61ca9e16dab7d8b05b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_49.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.02387258 -0.00414072 0.12073122
+v -0.02387258 -0.00414072 0.12087122
+v -0.02387258 -0.00408007 0.11762950
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+v -0.01536173 0.00253781 0.11765926
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+v -0.02053623 -0.00011311 0.12074575
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_5.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7971620d829a5a75052d3ee4eab1a16db81e13ab
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_5.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.03737607 -0.05294523 0.10528185
+v 0.03737607 -0.05221467 0.10585398
+v 0.03737607 -0.04115242 0.10528189
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_50.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fbd8c8d7d289b9ecc0571cf8f6052b2cf405d78
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_50.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00260172 0.01619776 0.15397017
+v -0.00275390 0.01619776 0.15397017
+v 0.00062828 0.01572159 0.15397017
+v -0.00285866 0.00802173 0.13114151
+v -0.00329536 0.00808079 0.13114151
+v -0.00281455 0.01608333 0.15397017
+v 0.00209165 0.01502394 0.15397017
+v 0.00083119 0.00708784 0.13114151
+v -0.00329536 0.00773011 0.13427442
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+v -0.00329536 0.00503547 0.13941397
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+v -0.00329536 -0.01307018 0.15397006
+v 0.00587744 0.01266154 0.15397016
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_51.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5477766dbad3c39971b6e3987f1d2b7fabc05557
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_51.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_52.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a53454cdafab06ba1e87562fa86f06baca7a761
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_52.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_53.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0d27bcc2acc7545f2583c8966b6d70e7035caef
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_53.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_54.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c23fc315b3bcefe6d71ac5d5d8981a01cb24e892
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_54.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.02260582 0.07491871 0.15173767
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_55.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4af9537c9d4efea9bbb19a8639f95570c23cdd62
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_55.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.01605765 0.06171798 0.15367351
+v -0.01864404 0.06171798 0.15367351
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_56.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad3f30490e9a286da588967d166c1d59a3287263
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_56.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.05930817 -0.01645810 0.15878346
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_57.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8187ba5e47d14369b74f492d6f13fb4f69f4f2c9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_57.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.01025993 -0.00829904 0.13114146
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_58.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5beb787190ab6e51538cf6a9c21e8169908e388c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_58.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.03876875 0.00887475 0.13345673
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+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_59.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..842786102450962b1d340334ac5fd8a077d979a4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_59.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.02146901 0.01952735 0.11525540
+v 0.01884212 0.01928318 0.11525540
+v 0.02199952 0.01655965 0.11525539
+v 0.00962476 0.00412973 0.10121024
+v 0.00890673 0.00747423 0.10120887
+v 0.00562592 0.00841925 0.10121300
+v 0.01799908 0.01920480 0.11525540
+v 0.02051057 0.01197923 0.11525537
+v 0.00957187 0.00412973 0.10120886
+v 0.01979896 0.01066645 0.11525537
+v 0.01223723 0.00561431 0.10627143
+v 0.01024662 0.00412971 0.10548083
+v 0.00562592 0.00832882 0.10120887
+v 0.00562592 0.00910502 0.10446888
+v 0.00712769 0.01069361 0.10627833
+v 0.01443779 0.01765690 0.11525539
+v 0.01549880 0.01815880 0.11525540
+v 0.00562592 0.00412973 0.10120886
+v 0.01051588 0.00412970 0.10942831
+v 0.01028509 0.00412971 0.10600194
+v 0.00905098 0.00412968 0.11525535
+v 0.00967445 0.00412968 0.11362328
+v 0.00562592 0.00922559 0.10507936
+v 0.00712929 0.01073430 0.10946958
+v 0.00562592 0.00925120 0.10946957
+v 0.00562592 0.00880354 0.11525124
+v 0.00562592 0.00878395 0.11525536
+v 0.00562592 0.00412968 0.11525535
+f 1 2 7
+f 1 7 17
+f 1 17 16
+f 1 16 27
+f 1 27 28
+f 1 28 21
+f 1 21 10
+f 1 10 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 9 5
+f 4 8 10
+f 4 10 11
+f 4 11 12
+f 4 12 20
+f 4 20 19
+f 4 19 22
+f 4 22 21
+f 4 21 28
+f 4 28 18
+f 4 18 9
+f 5 9 18
+f 5 18 13
+f 5 13 6
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+f 6 27 26
+f 6 26 25
+f 6 25 23
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+f 6 14 15
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+f 10 21 22
+f 10 22 19
+f 14 23 15
+f 15 23 24
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 23 25 24
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_6.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ffe51cfd5fa7b9457601636b6c17b1829efe92c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_6.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.00964056 0.00405465 0.10120885
+v 0.00890441 0.00747247 0.10120887
+v 0.00911998 -0.00879570 0.10120881
+v 0.00878974 -0.00011495 0.08469311
+v 0.00821413 0.00317093 0.08469312
+v 0.00528330 0.00753743 0.08882207
+v 0.00134571 0.00927566 0.08882207
+v 0.00551033 0.00844839 0.10120887
+v 0.00457237 0.00368409 0.06588123
+v 0.00274462 0.00576997 0.06588124
+v 0.00907870 -0.00926272 0.10120881
+v 0.00816138 -0.00432859 0.08482104
+v 0.00797792 -0.00297151 0.08151514
+v 0.00582222 -0.00011488 0.06588122
+v 0.00134571 0.00875840 0.08469314
+v -0.00281433 0.00948928 0.08882207
+v 0.00066460 0.00660977 0.06588124
+v -0.00281433 0.00878766 0.10120887
+v 0.00840447 -0.01123969 0.10120880
+v 0.00777611 -0.00662181 0.08628034
+v 0.00457237 -0.00431596 0.06588120
+v 0.00533145 -0.00180914 0.06588121
+v -0.00697896 0.00784948 0.08882207
+v -0.00284644 0.00653437 0.06588124
+v -0.00458705 0.00624746 0.06588124
+v -0.00494022 0.00617207 0.06588124
+v -0.00592404 0.00741174 0.10120887
+v 0.00625565 -0.01158734 0.10120880
+v 0.00134571 -0.01170039 0.08882200
+v 0.00365505 -0.01069304 0.08639098
+v 0.00312072 -0.00619451 0.06588120
+v 0.00340279 -0.00587199 0.06588120
+v -0.00916447 0.00624738 0.08642908
+v -0.00914842 0.00623690 0.08882206
+v -0.00907503 0.00615941 0.09095223
+v -0.00514662 0.00584118 0.06588124
+v -0.01135457 0.00303893 0.10120885
+v -0.00281433 -0.01190567 0.10120880
+v -0.00281433 -0.01172552 0.08882200
+v -0.00061736 -0.01057156 0.08253869
+v 0.00120811 -0.00690865 0.06588119
+v 0.00279966 -0.00632435 0.06588120
+v -0.00980659 0.00413429 0.08490753
+v -0.01330846 0.00119390 0.10120884
+v -0.00602724 0.00431446 0.06588124
+v -0.00564655 -0.01128996 0.10120880
+v -0.00546309 -0.01089201 0.08882200
+v -0.00526816 -0.01077263 0.08620425
+v -0.00248181 -0.01095063 0.08477261
+v -0.00087420 -0.01057156 0.08253869
+v -0.00169291 -0.00692959 0.06588119
+v -0.01378776 -0.00011501 0.10120884
+v -0.00698813 0.00198775 0.06588123
+v -0.00780684 -0.00011488 0.06588122
+v -0.01227418 -0.00359357 0.10120883
+v -0.00943967 -0.00686684 0.08578583
+v -0.00488289 -0.00636205 0.06588120
+v -0.00471318 -0.00641231 0.06588120
+v -0.00293129 -0.00692959 0.06588119
+v -0.00957497 -0.00323329 0.08056762
+v -0.00631161 -0.00448140 0.06588120
+f 1 2 8
+f 1 8 18
+f 1 18 27
+f 1 27 37
+f 1 37 44
+f 1 44 52
+f 1 52 55
+f 1 55 46
+f 1 46 38
+f 1 38 28
+f 1 28 19
+f 1 19 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
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+f 2 7 8
+f 2 5 9
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+f 2 10 6
+f 3 11 4
+f 4 11 12
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+f 4 14 5
+f 5 14 9
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+f 6 15 7
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+f 29 39 40
+f 29 40 41
+f 29 41 30
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+f 30 42 31
+f 33 43 44
+f 33 44 34
+f 33 36 45
+f 33 45 43
+f 34 44 35
+f 35 44 37
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+f 39 47 48
+f 39 48 49
+f 39 49 50
+f 39 50 40
+f 39 46 47
+f 40 50 59
+f 40 59 51
+f 40 51 41
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+f 43 54 52
+f 46 55 56
+f 46 56 47
+f 47 56 48
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+f 48 58 59
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+f 49 59 50
+f 52 54 60
+f 52 60 56
+f 52 56 55
+f 54 61 56
+f 54 56 60
+f 56 61 57
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_60.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1b310b4a4841d9f4ad56c9b6dfa100b4216a35c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_60.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.00961216 0.00412973 0.10120886
+v -0.01058711 0.00412972 0.10453762
+v -0.00688068 0.01636246 0.11525539
+v -0.00592490 0.00741304 0.10120887
+v 0.00562593 0.00412973 0.10120886
+v -0.01062068 0.00412972 0.10465449
+v -0.00751680 0.01505728 0.11525539
+v -0.00286418 0.01623554 0.11525539
+v -0.00444968 0.01469447 0.11122128
+v -0.00523285 0.01469447 0.11122128
+v -0.00281623 0.00878887 0.10120887
+v 0.00562593 0.00832906 0.10120887
+v 0.00562593 0.00412968 0.11525535
+v -0.01070219 0.00412971 0.10534196
+v -0.01066063 0.00412970 0.10878346
+v -0.01062227 0.00412970 0.10946956
+v -0.00969207 0.00412968 0.11525535
+v -0.00086472 0.01469327 0.11525538
+v 0.00562593 0.00922590 0.10507936
+v 0.00562593 0.00910378 0.10446888
+v 0.00562593 0.00841887 0.10121300
+v 0.00551085 0.00845120 0.10120887
+v 0.00562593 0.00878403 0.11525536
+v 0.00561154 0.00880199 0.11525536
+v 0.00562593 0.00880319 0.11525124
+v 0.00562593 0.00925104 0.10946957
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 22
+f 1 22 12
+f 1 12 5
+f 1 5 13
+f 1 13 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 6
+f 1 6 2
+f 2 6 3
+f 3 7 17
+f 3 17 13
+f 3 13 23
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+f 3 18 8
+f 3 8 9
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+f 3 10 4
+f 3 6 7
+f 4 10 11
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+f 9 22 11
+f 9 11 10
+f 12 22 21
+f 18 24 25
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+f 18 26 19
+f 23 25 24
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_61.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7ab65507016191b1ffd31136f4d4437a19f356b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_61.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.04020375 0.01656018 0.13629391
+v -0.03900988 0.01656018 0.13574710
+v -0.04020375 0.01932173 0.13400078
+v -0.04020375 -0.00425547 0.13328466
+v -0.03889566 -0.00844841 0.13308665
+v -0.03877021 -0.00940736 0.13298650
+v -0.03877021 -0.00844560 0.13308665
+v -0.03877021 0.01656299 0.13556061
+v -0.03877021 0.01698200 0.13527973
+v -0.03877021 0.01907708 0.13352765
+v -0.04020375 0.01932173 0.13392250
+v -0.04020375 -0.00405861 0.13010628
+v -0.03877021 -0.00940735 0.13151414
+v -0.03877021 0.01907708 0.13282428
+v -0.04020375 0.01924862 0.13360593
+v -0.03956598 0.01889148 0.13199658
+v -0.04020375 -0.00178637 0.12837260
+v -0.03877021 -0.00009062 0.12621071
+v -0.04020375 -0.00164857 0.12827130
+v -0.04020375 -0.00013281 0.12715813
+v -0.04020375 0.00010341 0.12698545
+v -0.03877021 0.01889148 0.13199658
+v -0.04020375 0.01780036 0.13161209
+v -0.03877021 0.01836842 0.13161209
+v -0.03877021 0.01501632 0.12983697
+v -0.03877021 0.00823339 0.12625218
+v -0.03877021 0.00230816 0.12517927
+v -0.04020375 0.00395609 0.12534619
+v -0.04020375 0.01647583 0.13094440
+v -0.04020375 0.00825869 0.12684849
+v -0.03877021 0.00579524 0.12519194
+v -0.03877021 0.00405732 0.12453461
+v -0.04020375 0.00405732 0.12530935
+f 1 2 3
+f 1 3 11
+f 1 11 15
+f 1 15 23
+f 1 23 29
+f 1 29 30
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+f 1 33 28
+f 1 28 21
+f 1 21 20
+f 1 20 19
+f 1 19 17
+f 1 17 12
+f 1 12 4
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+f 3 14 11
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+f 4 13 6
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+f 18 21 27
+f 21 28 27
+f 23 26 29
+f 26 30 29
+f 26 31 30
+f 27 28 32
+f 28 33 32
+f 30 31 32
+f 30 32 33
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_62.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ed5cd9a91efca0c0abd963dc780912c4fe3a714
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_62.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00329536 -0.05093452 0.14781638
+v -0.00329536 -0.05334466 0.14844676
+v -0.00329536 -0.05093450 0.14120205
+v -0.02851655 -0.05093451 0.14426392
+v -0.00329536 -0.05430528 0.14868466
+v -0.01232952 -0.05093448 0.13563343
+v -0.00329536 -0.06072343 0.14373028
+v -0.00381672 -0.06264154 0.14377731
+v -0.01507977 -0.06689165 0.13744253
+v -0.02064648 -0.05093448 0.13715764
+v -0.03050820 -0.05978935 0.13993050
+v -0.03118680 -0.06264152 0.13949769
+v -0.03118680 -0.06264153 0.14165901
+v -0.02856344 -0.05124222 0.14426392
+v -0.00329536 -0.05847575 0.14835131
+v -0.01716246 -0.06689165 0.13617370
+v -0.01528115 -0.05093448 0.13495466
+v -0.00329536 -0.06227447 0.14508916
+v -0.00447600 -0.06558587 0.14409989
+v -0.01501909 -0.06689166 0.13748286
+v -0.01856379 -0.05093448 0.13564150
+v -0.02773313 -0.06689165 0.13701915
+v -0.03138541 -0.06689166 0.13898691
+v -0.03147645 -0.06689166 0.13903933
+v -0.03147645 -0.06689167 0.14138479
+v -0.03147093 -0.06689167 0.14144662
+v -0.02708487 -0.05423497 0.14426391
+v -0.01144404 -0.06689168 0.14480956
+v -0.01142749 -0.06689168 0.14481091
+v -0.00698074 -0.06576393 0.14537678
+v -0.00447600 -0.06558587 0.14525044
+v -0.00329536 -0.06314450 0.14618864
+v -0.02788209 -0.06689167 0.14217109
+v -0.01947135 -0.06689165 0.13578660
+v -0.02363396 -0.06689165 0.13593714
+v -0.02366155 -0.06689165 0.13594252
+v -0.01053097 -0.06689167 0.14256088
+v -0.01206471 -0.06689166 0.13950707
+f 1 2 5
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+f 1 32 18
+f 1 18 7
+f 1 7 3
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+f 1 6 17
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+f 18 32 19
+f 19 32 31
+f 19 31 37
+f 19 37 38
+f 19 38 20
+f 21 36 22
+f 26 33 27
+f 29 37 31
+f 29 31 30
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_63.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09d0d6560ee9d16d4074c726fef27079ac328f6d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_63.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.01104915 -0.01104755 0.13015089
+v 0.01104915 -0.01094466 0.12761775
+v 0.01104915 -0.01102216 0.13025197
+v 0.00254045 -0.00816956 0.12175687
+v 0.00254045 -0.00885898 0.11844621
+v 0.00254045 -0.00891375 0.11772935
+v 0.00254045 -0.00899258 0.11574047
+v 0.00254045 -0.00901127 0.11525685
+v 0.01104915 -0.01091393 0.12694443
+v 0.01104915 -0.00983303 0.13114144
+v 0.00254045 -0.00433763 0.12595545
+v 0.00254045 0.00260212 0.11525689
+v 0.00568207 -0.00857971 0.11525685
+v 0.00927095 -0.00793838 0.11525685
+v 0.01104915 -0.00841006 0.12248617
+v 0.01025958 -0.00829785 0.13114145
+v 0.01104915 -0.00578732 0.13114146
+v 0.00254045 0.00003142 0.12607987
+v 0.00927095 0.00260212 0.11525689
+v 0.00254045 0.00260208 0.12392150
+v 0.00940671 -0.00428147 0.11525686
+v 0.01012632 -0.00428148 0.11772936
+v 0.01104915 -0.00801591 0.12188904
+v 0.01041866 -0.00713144 0.13114145
+v 0.00254045 0.00010490 0.12604566
+v 0.01070767 -0.00583943 0.13114146
+v 0.01104915 -0.00399826 0.12584661
+v 0.00927178 0.00260212 0.11538907
+v 0.00824651 0.00260211 0.11807771
+v 0.00757271 0.00260210 0.11970583
+v 0.00590778 0.00260209 0.12119243
+v 0.01104915 -0.00426146 0.12163403
+v 0.01104915 -0.00462755 0.12163403
+f 1 2 9
+f 1 9 15
+f 1 15 23
+f 1 23 33
+f 1 33 32
+f 1 32 27
+f 1 27 17
+f 1 17 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 3 10 11
+f 3 11 4
+f 4 11 18
+f 4 18 25
+f 4 25 20
+f 4 20 12
+f 4 12 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 8 12 19
+f 8 19 21
+f 8 21 14
+f 8 14 13
+f 8 13 9
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+f 10 16 11
+f 10 17 26
+f 10 26 24
+f 10 24 16
+f 11 16 18
+f 12 20 31
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+f 12 30 29
+f 12 29 28
+f 12 28 19
+f 14 21 22
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+f 17 20 25
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+f 17 31 20
+f 18 24 26
+f 18 26 25
+f 19 28 27
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+f 19 32 22
+f 19 22 21
+f 22 32 33
+f 22 33 23
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_64.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81400deac0149ea5870c279b15100b867dbf44f8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_64.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.03877021 0.01656380 0.13556151
+v -0.03877021 0.01698261 0.13527888
+v -0.03877021 0.01232648 0.13469923
+v -0.02985535 0.01855383 0.13221660
+v -0.02984225 0.02072861 0.13222619
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+v -0.03005782 0.02285548 0.13220583
+v -0.03877021 0.01907665 0.13352798
+v -0.03877021 0.00887475 0.13345608
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+v -0.03622066 0.00887475 0.13249560
+v -0.03409520 0.01039121 0.13213753
+v -0.03574117 0.01202538 0.13334831
+v -0.03330948 0.01317094 0.13253035
+v -0.03193851 0.01202539 0.13150280
+v -0.03053328 0.01577548 0.13179384
+v -0.02906460 0.00887477 0.12875308
+v -0.02867174 0.01239220 0.12930280
+v -0.02910590 0.01692241 0.13029682
+v -0.02893163 0.01655973 0.12713873
+v -0.02957632 0.02095581 0.13039625
+v -0.02985636 0.02285549 0.13195912
+v -0.03005782 0.02285549 0.13195912
+v -0.03877021 0.01907665 0.13282499
+v -0.03877021 0.00887477 0.12674469
+v -0.03476507 0.00887476 0.13185967
+v -0.03195966 0.00887476 0.13048362
+v -0.02847934 0.00887478 0.12597462
+v -0.02942421 0.01971857 0.12765371
+v -0.02934463 0.00887479 0.12336024
+v -0.03087376 0.01971857 0.12765371
+v -0.03877021 0.01889189 0.13199744
+v -0.03623678 0.00887478 0.12559378
+v -0.03877021 0.01501725 0.12983574
+v -0.02981304 0.01039398 0.12388720
+v -0.03103594 0.00887479 0.12332671
+v -0.03877021 0.01837044 0.13161181
+v -0.02995608 0.01039398 0.12388720
+v -0.03159198 0.00887479 0.12350515
+f 1 2 8
+f 1 8 25
+f 1 25 33
+f 1 33 38
+f 1 38 35
+f 1 35 26
+f 1 26 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
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+f 1 6 7
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+f 3 9 10
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+f 3 12 13
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+f 16 18 17
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+f 21 29 31
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+f 22 30 23
+f 23 30 32
+f 23 32 24
+f 24 32 33
+f 24 33 25
+f 26 35 32
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+f 30 31 36
+f 30 36 39
+f 30 39 32
+f 31 37 36
+f 32 35 38
+f 32 38 33
+f 32 39 37
+f 32 37 40
+f 32 40 34
+f 36 37 39
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_65.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22887e7b662f6595d0d24c7e3146561629efeef5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_65.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.00142139 0.00260206 0.13114149
+v 0.00254045 0.00260208 0.12392150
+v -0.00329536 0.00260206 0.13114149
+v 0.00064850 -0.00000895 0.13114148
+v 0.00254045 -0.00433947 0.12595545
+v 0.00254045 0.00003023 0.12607987
+v 0.00254045 0.00010483 0.12604566
+v 0.00254045 0.00260212 0.11525689
+v -0.00329536 0.00260212 0.11525689
+v -0.00329536 -0.01093228 0.13114144
+v 0.00254045 -0.00817018 0.12175687
+v 0.00022007 -0.01645080 0.12155935
+v 0.00254045 -0.00901127 0.11525685
+v -0.00329536 -0.01645077 0.11525682
+v -0.00329536 -0.01645080 0.12154846
+v -0.00297603 -0.01645080 0.12188746
+v -0.00280066 -0.01645080 0.12189368
+v 0.00254045 -0.00885836 0.11844621
+v 0.00022007 -0.01645079 0.12108351
+v 0.00254045 -0.00899263 0.11574047
+v 0.00254045 -0.00891243 0.11772935
+v 0.00048113 -0.01560779 0.11525682
+v -0.00075104 -0.01645077 0.11525682
+v -0.00002957 -0.01645078 0.11763135
+f 1 2 8
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+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
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+f 2 18 21
+f 2 21 20
+f 2 20 13
+f 2 13 8
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+f 5 12 11
+f 8 13 22
+f 8 22 23
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+f 8 14 9
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+f 11 12 18
+f 12 17 16
+f 12 16 15
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+f 12 23 24
+f 12 24 19
+f 12 19 13
+f 12 13 20
+f 12 20 21
+f 12 21 18
+f 13 19 22
+f 19 24 22
+f 22 24 23
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_66.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac34183fcbd73691ea101c39f603a248fc49f2eb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_66.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.00690666 0.00887721 0.11525791
+v -0.01322898 0.01447213 0.12391700
+v -0.00728541 0.00987580 0.11525792
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+v -0.01068102 0.00887715 0.13109331
+v -0.01322898 0.01447213 0.12393231
+v -0.01364115 0.01623519 0.12565750
+v -0.01322898 0.01448646 0.12391700
+v -0.00972300 0.01375546 0.11847350
+v -0.00760543 0.01230777 0.11525793
+v -0.00329536 0.01623762 0.11525794
+v -0.00329536 0.00887718 0.12121692
+v -0.01068102 0.00887714 0.13322427
+v -0.01364115 0.01730063 0.13345143
+v -0.01364115 0.02002647 0.12692077
+v -0.01364115 0.02073121 0.12719640
+v -0.00971186 0.01656249 0.11853731
+v -0.00751834 0.01505747 0.11525794
+v -0.00688135 0.01636423 0.11525794
+v -0.00861611 0.03146245 0.12784721
+v -0.00717908 0.03327805 0.13025378
+v -0.00329536 0.03327804 0.13364544
+v -0.00329536 0.02201168 0.13308906
+v -0.00729352 0.00887714 0.13321661
+v -0.01032252 0.00887714 0.13322427
+v -0.00329536 0.03327801 0.14132708
+v -0.01364115 0.02932667 0.13986986
+v -0.01364115 0.02616129 0.13872398
+v -0.01364115 0.02489753 0.13823398
+v -0.01364115 0.02202361 0.13699113
+v -0.01364115 0.01997627 0.13585036
+v -0.01364115 0.01963942 0.13565640
+v -0.01364115 0.03251357 0.13229031
+v -0.00926728 0.01907569 0.11944074
+v -0.01364115 0.03327804 0.13262718
+v -0.01127547 0.03327805 0.13033290
+v -0.01125522 0.03327805 0.13031758
+v -0.00937766 0.03146245 0.12784721
+v -0.00736238 0.03327805 0.13025378
+v -0.00329536 0.02456786 0.13531955
+v -0.00329536 0.02874854 0.13842030
+v -0.00329536 0.03274050 0.14099277
+v -0.01364115 0.03327801 0.14109995
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+f 21 26 22
+f 23 40 24
+f 24 40 41
+f 24 41 42
+f 24 42 26
+f 24 26 25
+f 26 43 27
+f 37 39 38
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_67.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..287e8da1a69f0468bd775be5261c5f6eafe88fca
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_67.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.06380467 0.00302029 0.16183778
+v 0.06380467 0.00302029 0.16020757
+v 0.05963832 0.00292113 0.16202883
+v 0.05963832 -0.00011426 0.16327313
+v 0.06380467 -0.00011426 0.16309482
+v 0.06796841 -0.00011426 0.16256882
+v 0.07050320 0.00213179 0.16129396
+v 0.05963832 0.00292114 0.16024960
+v 0.07050320 0.00213179 0.16071192
+v 0.04414242 -0.01645807 0.15083252
+v 0.05730715 0.00220615 0.16151556
+v 0.05574346 -0.00033925 0.16224915
+v 0.05547719 -0.00428412 0.16345905
+v 0.05963832 -0.00428412 0.16384240
+v 0.06380467 -0.00428412 0.16352018
+v 0.07060501 -0.00263104 0.16158177
+v 0.07080863 -0.00011425 0.16161362
+v 0.05730715 0.00220615 0.16085074
+v 0.04414242 -0.01160183 0.15331224
+v 0.04414242 -0.00888676 0.15511567
+v 0.07080863 -0.00011425 0.16037441
+v 0.06796841 -0.00011425 0.15965992
+v 0.04414242 -0.01645810 0.15743614
+v 0.05547980 -0.01645809 0.15479214
+v 0.04414242 -0.00860077 0.15826147
+v 0.04842102 -0.00558445 0.16157285
+v 0.05547719 -0.00845016 0.16328583
+v 0.05131345 -0.00845016 0.16251276
+v 0.05963832 -0.00845016 0.16365390
+v 0.06771258 -0.00412587 0.16229752
+v 0.07060501 -0.00263104 0.16051194
+v 0.06370025 -0.00820802 0.16238794
+v 0.06224360 -0.01118048 0.16168745
+v 0.05899353 -0.01645811 0.15944843
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+v 0.04822002 -0.00845015 0.16157029
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+v 0.04869512 -0.01095741 0.16124551
+v 0.05159016 -0.01245604 0.16150914
+v 0.05807464 -0.01514252 0.16140469
+v 0.05953390 -0.01258951 0.16212301
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+v 0.04414242 -0.01555053 0.15784497
+v 0.04690693 -0.01645810 0.15841682
+v 0.04724369 -0.01245604 0.16017440
+v 0.05315907 -0.01489656 0.16116271
+v 0.05547719 -0.01517874 0.16138177
+v 0.05547719 -0.01645811 0.16065326
+v 0.04754912 -0.01645810 0.15863206
+v 0.05161888 -0.01645811 0.15996170
+f 1 2 8
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+f 1 9 2
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+f 3 11 12
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+f 49 54 51
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+f 51 55 53
+f 51 53 52
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_68.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c91ee5767588560c6f2876b239482b2887a0054
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_68.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.01949560 0.04059889 0.13897311
+v -0.01950314 0.04059889 0.13897936
+v -0.03877021 0.05249829 0.14427279
+v -0.03877021 0.05326746 0.14377700
+v -0.03877021 0.05679284 0.14178340
+v -0.03877021 0.06102123 0.13943565
+v -0.03877021 0.06171803 0.13906694
+v -0.03552696 0.06171803 0.13829824
+v -0.01949560 0.04576599 0.13788571
+v -0.01949560 0.04059886 0.14732462
+v -0.02310676 0.04059888 0.14254787
+v -0.03834571 0.05190487 0.14446028
+v -0.03854569 0.05167533 0.15243681
+v -0.03877021 0.05205784 0.15221599
+v -0.03877021 0.06171800 0.14597896
+v -0.03116300 0.06171804 0.13737331
+v -0.02274451 0.06171804 0.13591716
+v -0.01949560 0.05852349 0.13604630
+v -0.01949560 0.04141973 0.14756419
+v -0.02087289 0.04268306 0.14922866
+v -0.02363692 0.04223231 0.14995987
+v -0.02028047 0.04059886 0.14743503
+v -0.02385201 0.04059886 0.14602055
+v -0.03435720 0.04756274 0.15250970
+v -0.03854569 0.05167533 0.15366172
+v -0.03877021 0.05212814 0.15389712
+v -0.03877021 0.05740895 0.15500748
+v -0.01949560 0.06171802 0.14224172
+v -0.01949560 0.06171804 0.13570676
+v -0.01949560 0.04603269 0.14775795
+v -0.02087289 0.04490166 0.14922866
+v -0.02543684 0.04706237 0.15302633
+v -0.02780089 0.04641725 0.15355754
+v -0.02680848 0.04273062 0.14985154
+v -0.02384069 0.04059886 0.14668300
+v -0.03196297 0.04679150 0.15371170
+v -0.03435720 0.04756274 0.15323256
+v -0.03589675 0.05013697 0.15429709
+v -0.03877021 0.05560801 0.15661153
+v -0.03877021 0.05652812 0.15666153
+v -0.03810798 0.05622624 0.15698651
+v -0.02543684 0.04817891 0.15302634
+v -0.01949560 0.05318061 0.14580186
+v -0.01949560 0.04605750 0.14775795
+v -0.03810798 0.05590368 0.15698651
+v -0.03196297 0.04990953 0.15500329
+v -0.03848532 0.05590368 0.15698651
+v -0.03848532 0.05622624 0.15698651
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 18
+f 1 18 29
+f 1 29 28
+f 1 28 43
+f 1 43 44
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+f 1 30 19
+f 1 19 10
+f 1 10 22
+f 1 22 35
+f 1 35 23
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+f 1 11 2
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+f 3 14 26
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+f 20 33 21
+f 21 34 35
+f 21 35 22
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+f 23 35 37
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+f 25 37 26
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+f 26 38 39
+f 27 40 28
+f 28 40 41
+f 28 41 42
+f 28 42 43
+f 31 44 42
+f 32 42 41
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+f 32 45 46
+f 32 46 33
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+f 39 47 40
+f 40 47 48
+f 40 48 41
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+f 41 47 45
+f 42 44 43
+f 45 47 46
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_69.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c052e547d1e1c2987b7416d9a92709939b3f34d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_69.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.01854551 -0.01685559 0.15397005
+v 0.01854551 -0.01690074 0.15354407
+v 0.01854551 -0.02072601 0.15397003
+v 0.01863532 -0.01689290 0.15397005
+v 0.02478611 -0.00107539 0.14907268
+v 0.02396381 -0.00155256 0.14893742
+v 0.01997019 -0.00587069 0.14469783
+v 0.01994697 -0.00585105 0.14457178
+v 0.01991887 -0.00601797 0.14457178
+v 0.01854551 -0.01711282 0.15158160
+v 0.01854551 -0.02000729 0.15159631
+v 0.02120426 -0.01967739 0.15216122
+v 0.02119754 -0.01961653 0.15397004
+v 0.02119754 -0.01824784 0.15397004
+v 0.02478611 -0.00066497 0.14673115
+v 0.02324292 -0.00116964 0.14663455
+v 0.02478611 -0.00381866 0.14925852
+v 0.02320504 -0.00139938 0.14457179
+v 0.01991887 -0.00680933 0.14457177
+v 0.01854551 -0.01746628 0.15158160
+v 0.02192943 -0.01261791 0.14457175
+v 0.02329118 -0.01556148 0.14457174
+v 0.02406889 -0.01639015 0.14457174
+v 0.02478611 -0.01667489 0.14457174
+v 0.02478611 -0.01657474 0.14539334
+v 0.02478611 -0.01622129 0.14589477
+v 0.02478611 -0.01261792 0.14704393
+v 0.02478611 -0.00863360 0.14824185
+v 0.02478611 -0.00845098 0.14829613
+v 0.02478611 -0.00566256 0.14893190
+v 0.02478611 -0.00134832 0.14457180
+f 1 2 10
+f 1 10 20
+f 1 20 11
+f 1 11 3
+f 1 3 13
+f 1 13 14
+f 1 14 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 3 11 12
+f 3 12 13
+f 4 14 5
+f 5 15 16
+f 5 16 6
+f 5 14 17
+f 5 17 30
+f 5 30 29
+f 5 29 28
+f 5 28 27
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+f 8 22 21
+f 8 21 19
+f 8 19 9
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+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 13 30 17
+f 13 17 14
+f 15 31 18
+f 15 18 16
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_7.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6d0f431719446113c6ceaa4525f15f1f112e0e2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_7.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00329536 0.03021509 0.13114159
+v -0.00250928 0.02940421 0.13114159
+v 0.00931151 0.00966214 0.11525692
+v -0.00286468 0.01623835 0.11525694
+v -0.00329536 0.01623835 0.11525694
+v -0.00329536 0.00260206 0.13114149
+v -0.00130610 0.02809059 0.13114158
+v 0.00007849 0.02631477 0.13114158
+v 0.00107805 0.02470654 0.13114157
+v 0.00931151 0.00791334 0.11704675
+v 0.00931151 0.00466444 0.11525690
+v -0.00329536 0.00260212 0.11525689
+v 0.00142235 0.00260206 0.13114149
+v 0.00207392 0.00409136 0.13114150
+v 0.00931151 0.00784037 0.11711361
+v 0.00931151 0.00540503 0.11642473
+v 0.00930164 0.00271834 0.11525689
+v 0.00927079 0.00260212 0.11525689
+v 0.00757276 0.00260210 0.11970583
+v 0.00931151 0.00779171 0.11711361
+v 0.00824654 0.00260211 0.11807771
+v 0.00927202 0.00260212 0.11538907
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 6
+f 1 6 13
+f 1 13 14
+f 1 14 9
+f 1 9 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 15
+f 3 15 20
+f 3 20 16
+f 3 16 11
+f 3 11 17
+f 3 17 18
+f 3 18 12
+f 3 12 5
+f 3 5 4
+f 6 12 18
+f 6 18 22
+f 6 22 21
+f 6 21 19
+f 6 19 13
+f 9 14 15
+f 9 15 10
+f 11 16 17
+f 13 19 14
+f 14 19 20
+f 14 20 15
+f 16 20 19
+f 16 19 21
+f 16 21 22
+f 16 22 17
+f 17 22 18
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_70.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4204174cdea46ae3ec8ba245f21379038413d22a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_70.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00329536 -0.01325888 0.15432683
+v -0.00329536 -0.02057864 0.15432680
+v -0.00329536 -0.01252453 0.15291776
+v -0.00426010 -0.01252454 0.15432683
+v -0.00698069 -0.02085086 0.15432680
+v -0.00698069 -0.01252445 0.13147971
+v -0.00437792 -0.01501683 0.13920947
+v -0.00329536 -0.01553439 0.14162950
+v -0.00329536 -0.01252448 0.13869282
+v -0.00569260 -0.01252454 0.15432683
+v -0.00743870 -0.02080929 0.15432680
+v -0.00913962 -0.01478863 0.14018242
+v -0.00781698 -0.01252446 0.13295588
+v -0.00471811 -0.01252446 0.13424865
+v -0.00960472 -0.01943026 0.15164734
+v -0.00370818 -0.01252447 0.13573601
+v -0.00329536 -0.01443166 0.14037924
+v -0.00329536 -0.01291325 0.13887176
+v -0.01234569 -0.01253432 0.15432683
+v -0.01157762 -0.01252452 0.15086677
+v -0.00998034 -0.02007006 0.15432681
+v -0.00984746 -0.01252448 0.13793908
+v -0.00884728 -0.01252447 0.13534683
+v -0.01113201 -0.01682707 0.15432682
+v -0.01103013 -0.01252451 0.14663284
+v -0.00996085 -0.01252448 0.13861902
+v -0.01099027 -0.01724926 0.15432682
+f 1 2 8
+f 1 8 17
+f 1 17 18
+f 1 18 9
+f 1 9 3
+f 1 3 4
+f 1 4 10
+f 1 10 19
+f 1 19 24
+f 1 24 27
+f 1 27 21
+f 1 21 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 16
+f 3 16 14
+f 3 14 6
+f 3 6 13
+f 3 13 23
+f 3 23 22
+f 3 22 26
+f 3 26 25
+f 3 25 20
+f 3 20 10
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+f 5 11 6
+f 6 12 13
+f 6 14 7
+f 6 11 15
+f 6 15 12
+f 7 14 8
+f 8 14 16
+f 8 16 17
+f 9 18 16
+f 10 20 19
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+f 12 15 21
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+f 16 18 17
+f 19 20 25
+f 19 25 26
+f 19 26 24
+f 21 27 22
+f 22 27 26
+f 24 26 27
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_71.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..554d591f69468278ae8df4131fd100296a879c8f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_71.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.01898133 -0.05093451 0.14426577
+v -0.01912469 -0.05093451 0.14440982
+v -0.02475624 -0.05296406 0.14918300
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+v -0.02852029 -0.05093451 0.14426577
+v -0.02325294 -0.05093452 0.14824228
+v -0.02034321 -0.05343546 0.14426576
+v -0.02474655 -0.05093453 0.14919574
+v -0.03275509 -0.05430529 0.15329570
+v -0.03303405 -0.05766718 0.15320651
+v -0.02856678 -0.05124215 0.14426577
+v -0.03877021 -0.05093452 0.14757300
+v -0.02360552 -0.05479438 0.14426576
+v -0.03689109 -0.06152705 0.15342012
+v -0.03689109 -0.06152705 0.15177680
+v -0.02834981 -0.05093453 0.15090961
+v -0.03333432 -0.05129308 0.15307327
+v -0.03612588 -0.05430530 0.15396204
+v -0.03575200 -0.05882249 0.15377486
+v -0.02708867 -0.05423333 0.14426576
+v -0.03877021 -0.05170694 0.14777779
+v -0.03877021 -0.05093454 0.15355441
+v -0.03877021 -0.06223971 0.15134073
+v -0.03877021 -0.06223971 0.15357201
+v -0.03295269 -0.05093454 0.15283417
+v -0.03411116 -0.05093454 0.15311051
+v -0.03614525 -0.05093454 0.15337410
+v -0.03877021 -0.05430530 0.15412177
+v -0.03877021 -0.05695011 0.15427561
+v -0.03877021 -0.05859011 0.15422856
+v -0.03877021 -0.06148721 0.15371900
+v -0.03877021 -0.05853476 0.15004334
+v -0.03877021 -0.05463505 0.14872145
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+f 1 3 4
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+f 1 20 11
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+f 1 5 12
+f 1 12 22
+f 1 22 27
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+f 1 25 16
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+f 18 29 30
+f 18 30 19
+f 19 30 31
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+f 20 23 32
+f 20 32 33
+f 20 33 21
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_72.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcede57684a70621cf769443a081318bbd341c37
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_72.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.01536089 -0.00148126 0.11525532
+v -0.00838565 -0.01252439 0.11525528
+v -0.01164887 -0.00719556 0.12267296
+v -0.01340391 -0.00428187 0.12267297
+v -0.01420938 -0.00240923 0.12267298
+v -0.01501367 -0.00001292 0.12267299
+v -0.01536089 0.00027826 0.11747497
+v -0.01536089 0.00297202 0.11525534
+v -0.00329536 -0.01252439 0.11525528
+v -0.00832306 -0.01252440 0.11772977
+v -0.00784946 -0.01165723 0.12267295
+v -0.00821558 -0.01252441 0.11844351
+v -0.01419993 0.00274786 0.12267300
+v -0.01536089 0.00253842 0.11765867
+v -0.01536089 0.00233104 0.11770660
+v -0.01536089 0.00296155 0.11532286
+v -0.00690699 0.00887482 0.11525536
+v -0.00329536 -0.01252442 0.12267294
+v -0.00329536 0.00887482 0.11525536
+v -0.00765577 -0.01181852 0.12267295
+v -0.00722469 -0.01252442 0.12141827
+v -0.00329536 0.00734568 0.12267302
+v -0.00329536 0.00887479 0.12121505
+v -0.00610033 0.00887481 0.11784457
+v -0.00479174 -0.01252442 0.12267294
+v -0.00710776 -0.01252442 0.12176461
+v -0.00713257 -0.01225002 0.12267295
+f 1 2 3
+f 1 3 4
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+f 1 6 7
+f 1 7 15
+f 1 15 14
+f 1 14 16
+f 1 16 8
+f 1 8 17
+f 1 17 19
+f 1 19 9
+f 1 9 2
+f 2 9 18
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+f 2 25 26
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+f 2 21 12
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+f 13 24 17
+f 17 24 23
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+f 20 21 26
+f 20 26 27
+f 25 27 26
+
diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_73.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60b42be92c727c738b2f87eb1a0e866342ecb076
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_73.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.02384785 -0.00011560 0.13349871
+v -0.02115607 -0.00011558 0.12882506
+v -0.02356419 -0.00079218 0.13349871
+v -0.02275344 0.00364016 0.13349872
+v -0.02237522 0.00265567 0.13100611
+v -0.01907386 -0.00011558 0.12668641
+v -0.01842606 -0.00305650 0.12698738
+v -0.02178174 -0.00248257 0.13163560
+v -0.02244362 -0.00288686 0.13349870
+v -0.02222434 0.00398578 0.13349872
+v -0.01978000 0.00376166 0.12982445
+v -0.01859707 0.00315002 0.12729685
+v -0.01419928 0.00274786 0.12267301
+v -0.01501406 -0.00001292 0.12267300
+v -0.01947220 -0.00415831 0.13031086
+v -0.01420934 -0.00240923 0.12267299
+v -0.01340463 -0.00428187 0.12267298
+v -0.01406248 -0.00428187 0.12330567
+v -0.01334427 -0.00646243 0.12380589
+v -0.00785006 -0.01165723 0.12267296
+v -0.01774004 -0.00659652 0.13173945
+v -0.01774004 -0.00659653 0.13299212
+v -0.01832346 -0.00610009 0.13349869
+v -0.01949031 0.00530961 0.13349873
+v -0.01068267 0.00887476 0.13109409
+v -0.00329536 0.00734568 0.12267303
+v -0.01165034 -0.00719556 0.12267297
+v -0.00765693 -0.01181852 0.12267296
+v -0.00713386 -0.01225002 0.12267296
+v -0.00987393 -0.01143523 0.13349867
+v -0.01920664 0.00542482 0.13349873
+v -0.01068267 0.00887475 0.13322426
+v -0.00774545 0.00887476 0.13051545
+v -0.00329536 -0.01252442 0.12267295
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+v -0.00329536 0.00814163 0.13011485
+v -0.00479213 -0.01252442 0.12267295
+v -0.00781787 -0.01252446 0.13295394
+v -0.00797077 -0.01252446 0.13349866
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+v -0.00329536 -0.01252442 0.12338088
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+v -0.00329536 0.00781694 0.13349874
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+v -0.00347441 -0.01153577 0.13349867
+v -0.00329536 -0.01072723 0.13349867
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+f 1 24 10
+f 1 10 4
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_8.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..702c96588ec5568eebb6e678135db4ffdb85008a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_8.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_9.obj b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad0c2b9638450d03c196175368cf3741cba05e50
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_collision_9.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d67c42b0735b80ceb7453e57e2d15fcf8a9baa9e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/mjcf/mesh/houseplant_028_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/textures/material_0.png b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/textures/material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/video.mp4 b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/32cfde88a17c51388e02ddc9ef315959/video.mp4
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