diff --git a/.gitattributes b/.gitattributes
index caf82d4437f123b2abcd325876d44ed3c6a76e83..eb43f7c19183b730e229a9db51232f5f962d7d23 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5001,3 +5001,5 @@ dataset/livingroom_supplies/ornaments/c0a68f9999725308b4169378e21b627c/candle_ho
 dataset/livingroom_supplies/ornaments/c0a68f9999725308b4169378e21b627c/mesh/candle_holder_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/b99c203dfe0e501695395da39bcd44bf/houseplant_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/b99c203dfe0e501695395da39bcd44bf/mesh/houseplant_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/houseplant_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mesh/houseplant_020.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/houseplant_020.urdf b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/houseplant_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6387d8fcae4411942d2b8735ffd212e4aad5bf3c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/houseplant_020.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="houseplant_020">
+   <link name="houseplant_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/houseplant_020.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_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.3000" />
+         <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>bdaa42a01a09598793eacedf69e746e1</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>houseplant</category>
+         <name>potted cactus</name>
+         <color>beige,green</color>
+         <shape>irregular</shape>
+         <material>ceramic</material>
+         <description>round ribbed cactus in a beige pot with saucer</description>
+         <min_height>0.2500</min_height>
+         <max_height>0.2500</max_height>
+         <real_height>0.2500</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518200140</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.085781 -0.085542 -0.112031</min>
+            <max>0.085571 0.085384 0.137969</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/bdaa42a01a09598793eacedf69e746e1/houseplant_020.usd b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/houseplant_020.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/houseplant_020.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9031c131fd5874e68162f3048d7f4ab5629eaf1b9b273667922468a06ff9b4c7
+size 5011623
diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mesh/houseplant_020.glb b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mesh/houseplant_020.glb
new file mode 100644
index 0000000000000000000000000000000000000000..22c5b75d298a4579c45c699199a967ff7e8e9054
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mesh/houseplant_020.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8364ee3c47b8a17f9ae175592d8e578a49c33f8399dfdff32e95e9586e2943a2
+size 16393600
diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mesh/houseplant_020.mtl b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mesh/houseplant_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..02c1dfcdf8f6a3beffb59ddfd3d70ea0b79932c5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mesh/houseplant_020.mtl
@@ -0,0 +1,6 @@
+newmtl houseplant_020_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/bdaa42a01a09598793eacedf69e746e1/mesh/houseplant_020.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mesh/houseplant_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69ec72acf11a91b008d01e6e9728f8a2fb7ba9c6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mesh/houseplant_020.obj
@@ -0,0 +1,112272 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl houseplant_020_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mesh/houseplant_020_collision.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mesh/houseplant_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40ddfc9927d779d5d01dbcbc6ec67da54e234f26
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mesh/houseplant_020_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mesh/houseplant_020_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mesh/houseplant_020_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a01a0f062cbd5af254f55112b7d3b160b6edd0ca
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mesh/houseplant_020_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f6643d4d6b86814ce00aa45fe653d324ea3511925a63153401d9d998e87f448
+size 12883568
diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cb382d390d96289f52b21e0917aeff79e7493437
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl houseplant_020_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd houseplant_020_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a01a0f062cbd5af254f55112b7d3b160b6edd0ca
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f6643d4d6b86814ce00aa45fe653d324ea3511925a63153401d9d998e87f448
+size 12883568
diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/houseplant_020.xml b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/houseplant_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..791f18ee67c6100a5d2b708b961ad40b58174eaf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/houseplant_020.xml
@@ -0,0 +1,68 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="houseplant_020">
+  <asset>
+    <material name="material_0" texture="texture_0_houseplant_020_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_houseplant_020_geometry_Looks_material_0" type="2d" file="mesh/houseplant_020_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/houseplant_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/houseplant_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/houseplant_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/houseplant_020_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/houseplant_020_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/houseplant_020_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/houseplant_020_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/houseplant_020_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/houseplant_020_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/houseplant_020_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/houseplant_020_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/houseplant_020_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/houseplant_020_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/houseplant_020_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/houseplant_020_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/houseplant_020_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/houseplant_020_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/houseplant_020_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/houseplant_020_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/houseplant_020_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/houseplant_020_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/houseplant_020_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/houseplant_020_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/houseplant_020_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/houseplant_020_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/houseplant_020_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/houseplant_020_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/houseplant_020_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="houseplant_020">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
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+      <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_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7459bd923e6bfb2a89bc25b4e3c3b68692e0618f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020.obj
@@ -0,0 +1,112272 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl houseplant_020_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..868c21adbed1988552158decaf19c4e16cf88f34
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision.obj
@@ -0,0 +1,25895 @@
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diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_0.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d005f47c461838f9f5ca3927f71d761d3c469ec
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_1.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64ce11cb36f2fc4505a3ec90a0533d626f8077e1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_1.obj
@@ -0,0 +1,5584 @@
+# https://github.com/mikedh/trimesh
+v 0.00193107 0.08581848 0.01706520
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diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_10.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3060182acae0f6c86be4468362559c476603d124
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_10.obj
@@ -0,0 +1,565 @@
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diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_11.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8b839687155be5482fa7984e4434115ff1113ca
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_11.obj
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diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_12.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c4e0910573263bdd1ee5f0f68c042ccf5718e04
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_12.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_13.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fde30288bcdbd3d48c74dc11cb39584db92096c7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_13.obj
@@ -0,0 +1,541 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_14.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca6a5e2f0248e4d671e4c8c36e80269d34de037b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_14.obj
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diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_15.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c43fcddf2c704749573da046d1e8ca5c07e3d4c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_15.obj
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diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_16.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..579cc42db077c43dc2263573cddb0a48a6fa9939
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_16.obj
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diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_17.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..623c0a4be639c4210f81f5b7cfed3e25bf3462a5
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diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_18.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4720689c58022f413fb4bc85e43cf29aaf3a30d8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_18.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_19.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be4cbdd211ea7f50ac472cfa85a6db31314b3498
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_19.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_2.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..617245c6f8950f65afb0c06cbd6e0d4395cfe0a5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_2.obj
@@ -0,0 +1,706 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_20.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b5a0ae79c054884f28a9ea162034495f051632d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_20.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_21.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..118533d7d64870cdace21dc49407a7894cbcd248
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_21.obj
@@ -0,0 +1,538 @@
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diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_22.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0f8c91d9fc92fbe46ecc148806b3f208176c417
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_22.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_23.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c389a59b21184fd5d710dbe8ce519aff22721d2a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_23.obj
@@ -0,0 +1,136 @@
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+
diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_24.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fea91e77333be7c1c3554182fa05817c1ed0f7d7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_24.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.00214454 0.02194302 -0.11294813
+v 0.00194760 0.03058203 -0.11294518
+v 0.01012504 0.03058203 -0.11294518
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+v -0.01803565 0.02194302 -0.11294521
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+v -0.01032198 0.03466970 -0.11293936
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+v 0.04597894 0.03783619 -0.11185282
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+v 0.04597894 0.03561887 -0.11233219
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+
diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_25.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c3929202590280975ec4af70c66498d7a94b8a4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_25.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.04597894 0.02194146 -0.11287743
+v 0.04597894 0.02240719 -0.11287743
+v 0.04692831 0.02194146 -0.11287164
+v 0.04597894 0.02194136 -0.08326913
+v 0.04597894 0.02335648 -0.11287452
+v 0.04692831 0.02240719 -0.11286874
+v 0.04739354 0.02194146 -0.11286004
+v 0.05024342 0.02194136 -0.08326913
+v 0.04597894 0.03053653 -0.08326910
+v 0.04597894 0.02744499 -0.11282525
+v 0.04692831 0.02649569 -0.11281655
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+v 0.05047120 0.02194146 -0.11273250
+v 0.05047120 0.03936953 -0.08530672
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+v 0.05047120 0.04218768 -0.08448064
+v 0.05013437 0.02224656 -0.08326913
+v 0.05047120 0.02194139 -0.09215887
+v 0.04603567 0.03044339 -0.08326910
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+v 0.04597894 0.04218769 -0.08706031
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+
diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_26.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4e726561d050827acf394068513b81b4f0b0cd2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_26.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.02369643 0.04218768 -0.08326906
+v -0.03522486 0.04218768 -0.08326906
+v -0.02369643 0.03116168 -0.08326910
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+v -0.05006188 0.04218768 -0.08466296
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+v -0.04518417 0.03116168 -0.08326910
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+v -0.05006188 0.04030414 -0.08520309
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+v -0.04260079 0.03471612 -0.08326908
+v -0.04194010 0.03553754 -0.08326908
+v -0.04099037 0.03669896 -0.08326908
+v -0.03961996 0.03811189 -0.08326907
+v -0.03896702 0.03877680 -0.08326907
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+
diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_3.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e641c8cc106cd00dfb729cefa8acd84fce3594df
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_3.obj
@@ -0,0 +1,784 @@
+# https://github.com/mikedh/trimesh
+v -0.00622797 0.04218897 -0.11293375
+v -0.01031636 0.04218897 -0.11293085
+v -0.00622797 0.04284766 -0.11293374
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diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_4.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..408dc63f0aa9daceff308469e3221951f420196b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_4.obj
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diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_5.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fa88a6518aedf05d9f55b48b44cb04b51a59ddf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_5.obj
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diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_6.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55bbc07913f7cf1c1a75b293a8784cc8e1df3cd5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_6.obj
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diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_7.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9416bdc91470a7928bb10d0a5162f29a027b6c98
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_7.obj
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diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_8.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba4bbab6409ccc289522e18f3f840ae985a72bf3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_8.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_9.obj b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c92b8484fb7102dde35a3957ec018d4d632f1876
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mjcf/mesh/houseplant_020_collision_9.obj
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