diff --git a/.gitattributes b/.gitattributes
index d056f6c7e07192d95cf45e2ad375986b74c08228..e2bdc0de84e85781f89a19af32e92cf32a71ee7e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4952,5 +4952,7 @@ dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/candle_ho
dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mesh/candle_holder_022.glb filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mesh/candle_holder_022.obj filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/747705be80a85a9aa9c49268bfb7d7f3/candle_holder_035.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/747705be80a85a9aa9c49268bfb7d7f3/mesh/candle_holder_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/780767d373a153589d65c9ba262cb39e/houseplant_014.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ca3471bf5ed82abb6321c04c0ed08099c9927317
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mesh/material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mesh/photo_frame_035.glb b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mesh/photo_frame_035.glb
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mesh/photo_frame_035.glb
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mesh/photo_frame_035.mtl b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mesh/photo_frame_035.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e426e989395ee6d7ede3526f8fba4abb52089fe7
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+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mesh/photo_frame_035.mtl
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+newmtl photo_frame_035_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mesh/photo_frame_035.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mesh/photo_frame_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6169749b1a44968305a0c87d14ab6fd0f07afe3f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mesh/photo_frame_035.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mesh/photo_frame_035_collision.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mesh/photo_frame_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ca7180cef7fbf40cccf55567ed298c3850b193c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mesh/photo_frame_035_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mesh/photo_frame_035_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mesh/photo_frame_035_geometry_Looks_material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035.obj
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d02806ad81b010243341a3af5c9a7e00dde4ffd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision.obj
@@ -0,0 +1,17130 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_0.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..439a523cd7112611eb736a3886d0ed750ac3a319
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_1.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..111112c5ca432abc4642a3729a0b18a2681c403f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_1.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_10.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f53f949fcb7d61e7fd5027ce967793460877daa
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_10.obj
@@ -0,0 +1,568 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_11.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d9340137aa78d4854c839f2cc739ec6a886d11d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_11.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_12.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f31316a06f22a758950bc540d53b0bb203ee91d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_12.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_13.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2faa3964ff7e5caf0b80d9687d72e970cb36145b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_13.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.02198119 0.05203763 -0.01676125
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_14.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dadbee4965fed45dfdd42457a657923c06a1653
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_14.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_15.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..599c5e48553cb9acc47592cad6113335a89aa97f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_15.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_16.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afe6e9fd841bb50d57c9cf989b25248bfc049e25
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_16.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_17.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..440df06f5a922261a6e0de61d62f4954d097a01e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_17.obj
@@ -0,0 +1,112 @@
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_18.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8e59ab7257da40368d494a82156c9656d5e3448
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_18.obj
@@ -0,0 +1,796 @@
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_19.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d94ceb0a573a214d51f83c95baa7512a18bc4c41
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_19.obj
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_2.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3fe965e2f1dbbf4a4a24dbcaae2867ea0eb5a0d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_2.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_20.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..003356c1df22133b44a347fcb5954daa8c3d44d6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_20.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_21.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d959ad5e9ab0819da4b076b550d889c97fdc8af
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_21.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_22.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a66e6d68bdde6c8ec9d15ab4ea05a5f95ffb1a8b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_22.obj
@@ -0,0 +1,229 @@
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_23.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6eae9013da56461c681448c9ac75e63cb7cd0ec
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_23.obj
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_24.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6526962f9cebd7541b64c1f1d955329ae9abe49
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_24.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_25.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c679626ba5776e09b5b127c9288c646971bfe9a1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_25.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_26.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5b19e1bfd60de33c0efb0c8e7a0c9e1a779a1a8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_26.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.00052685 0.03586382 -0.04092356
+v 0.00052685 0.05005910 -0.04092351
+v 0.00186733 0.03586382 -0.04092356
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+v 0.00473017 0.05713768 -0.02610116
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+v 0.00473017 0.03984485 -0.04092354
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+v 0.00085436 0.03586375 -0.02114864
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+v 0.00424754 0.05207860 -0.01676125
+v 0.00420722 0.05223068 -0.01676125
+v 0.00371390 0.05528579 -0.01676124
+v 0.00367810 0.05551391 -0.01676124
+v 0.00353616 0.05870992 -0.01676122
+v 0.00052685 0.03784308 -0.02141589
+v 0.00052685 0.05544686 -0.02689113
+v 0.00421339 0.05870993 -0.01992341
+v 0.00473017 0.05870994 -0.02228618
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+v 0.00387930 0.03586375 -0.02130710
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+v 0.00052685 0.05544686 -0.02684146
+v 0.00052685 0.05337134 -0.02506997
+v 0.00052685 0.05175433 -0.02452836
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+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_27.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a7bc14b21755fcc8aa730826d4e8f11dda99249
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_27.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.02910015 0.00574592 0.07594923
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+v -0.02800296 0.00574591 0.07874604
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+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_28.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efcc5b631243ad1bc80f7d53db0ef7746d093685
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_28.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.00936215 -0.06594685 -0.01676168
+v -0.00891211 -0.06593389 -0.01676168
+v -0.00936215 -0.06594685 -0.01653252
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+v -0.00652611 -0.04389088 -0.01676160
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+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_29.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18107865dbd445eb7a3ab56d19613228a5299195
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_29.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.01461944 -0.00357190 0.11132367
+v -0.01461944 0.00574579 0.11132087
+v -0.01734643 0.00574579 0.11070707
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+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_3.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed161c3b1b3427c5f0a463780ddd5dd0a88c7970
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_3.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_30.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40b322f2a421168d638304b78095dbf43d8edef1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_30.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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+v 0.01843767 -0.05992903 -0.04420890
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+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_31.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6700681ec0e315a25286e49cecb4cea15061db2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_31.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
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+v -0.01234813 -0.05938367 0.05304242
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+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_32.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18adcf8b726cc7b02f345d8f640b0e1850a65aa4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_32.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_33.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ded2fc5801ee122c0466c08a1a3df03309ad565d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_33.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_34.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80f03959f43686cc1584f14bd5691b209c3e1dca
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_34.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_35.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..034de2b6602377fd68fac6ed57b88b48d093879e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_35.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_36.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49f24527571f9209cc1211621c6c3fa3aabee69b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_36.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_37.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f045dd39da05d7e3375d97892c709c12dfdb26b0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_37.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_38.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8df462e4765716a610466177b015a65cdf21769b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_38.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_39.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..692082463e1d9f9fb6585f1cd9032e646787442e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_39.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_4.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e98d112a39f06d4078e8fc15090fb5afb27b241
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_4.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_40.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..798d3e7db693ec365d527609d50d97c3e059762a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_40.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_41.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc4e30851a76ad3840f61ce8e6fac3d20b4e9451
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_41.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_42.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8853d1c85e2ee5993f7b0d2c1d99333ecc69a56b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_42.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_43.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a9ec44483032b27dc5adf3fe1eaf48d32ba04ae
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_43.obj
@@ -0,0 +1,619 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_44.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ca6d17099e58ccb55721bb9e92bfac1f582d297
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_44.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_45.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1700cb52cd5d0620b47f6cd34f211ffc47ce6559
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_45.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_46.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49f0862acf6d6ed1bf1d31cc54ffd23366e5509e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_46.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+v 0.01058947 0.06164712 -0.04420845
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+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_47.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da3c35286f18287c24e1fab5dc45c40d1f7610e0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_47.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.00480545 0.06858507 -0.04092344
+v -0.00442686 0.06852861 -0.04092344
+v -0.00243214 0.06856815 -0.04626267
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+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_48.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be60b01f581285cb375063909ad45e6c18913e51
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_48.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.00559051 -0.04841429 -0.06508665
+v 0.00609236 -0.04841429 -0.06551461
+v 0.00559051 -0.04841426 -0.07336273
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+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_49.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..998b90b27a0e18cfdc8184f6ba14a865360bf285
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_49.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00184159 0.01105057 -0.04092365
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+f 14 24 15
+f 15 24 16
+f 16 25 17
+f 16 24 26
+f 16 26 25
+f 21 27 22
+f 22 27 28
+f 22 28 29
+f 23 30 31
+f 23 31 32
+f 23 32 24
+f 24 32 26
+f 25 26 33
+f 25 33 34
+f 26 32 33
+f 28 35 36
+f 28 36 37
+f 28 37 29
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 30 41 42
+f 30 42 31
+f 31 42 32
+f 32 42 33
+f 33 42 43
+f 33 43 34
+f 34 43 44
+f 35 45 46
+f 35 46 36
+f 35 47 45
+f 36 46 37
+f 37 46 45
+f 37 45 48
+f 37 48 49
+f 37 49 38
+f 38 49 50
+f 38 50 51
+f 38 51 39
+f 39 51 50
+f 39 50 40
+f 40 50 44
+f 40 44 41
+f 41 44 43
+f 41 43 42
+f 44 50 52
+f 45 47 48
+f 47 52 50
+f 47 50 49
+f 47 49 48
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_5.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aa5a190b9d2b946b65a1e2f7dfe50296995f4c8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_5.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.00891131 -0.03638932 0.11201025
+v -0.01215131 -0.03310613 0.11187710
+v -0.00891131 -0.04295570 0.11200766
+v -0.00633386 -0.04365199 0.11120105
+v -0.00633386 -0.04295570 0.11120105
+v -0.00891131 -0.00028871 0.11200782
+v -0.01215131 -0.00028871 0.11187978
+v -0.01215131 -0.00357190 0.11187977
+v -0.01461834 -0.03967251 0.11131630
+v -0.01215131 -0.03967251 0.11187452
+v -0.01461834 -0.00357190 0.11132155
+v -0.01215131 -0.04295570 0.11186938
+v -0.00959724 -0.04365199 0.11197693
+v -0.00891131 -0.04365199 0.11200509
+v -0.00471385 -0.04365198 0.10988487
+v -0.00633775 -0.01669983 0.11119859
+v -0.00633905 -0.01341664 0.11119860
+v -0.00634165 0.00299449 0.11119610
+v -0.00675867 0.00574579 0.11132671
+v -0.00891131 0.00574579 0.11200527
+v -0.00943745 0.00574579 0.11198479
+v -0.01215131 0.00574579 0.11187724
+v -0.01267616 0.00574579 0.11175945
+v -0.01461834 0.00377781 0.11132157
+v -0.01461834 -0.04217238 0.11131373
+v -0.01461834 -0.04348276 0.11131116
+v -0.01215131 -0.04365199 0.11186682
+v -0.00355114 -0.04365198 0.10823325
+v -0.00472165 0.00574580 0.10961618
+v -0.00498407 0.00574580 0.10987225
+v -0.00634165 0.00574579 0.11119355
+v -0.00633905 -0.00357190 0.11119608
+v -0.01461834 0.00574579 0.11131902
+v -0.01461834 -0.04365199 0.11130860
+v -0.00259369 -0.04365197 0.10567514
+v -0.00383695 0.00574580 0.10796456
+v -0.01461834 0.00574588 0.08585068
+v -0.01461834 -0.04365190 0.08585050
+v -0.00189866 -0.04365196 0.10237189
+v -0.00327573 0.00574581 0.10567532
+v -0.00336667 0.00574581 0.10604662
+v -0.00930105 0.00574588 0.08585068
+v -0.00932443 -0.04365190 0.08585050
+v -0.00161286 -0.04365195 0.09976770
+v -0.00140500 0.00574585 0.09576812
+v -0.00190776 0.00574584 0.09906882
+v -0.00258720 0.00574582 0.10237207
+v -0.00361350 0.00574587 0.09048804
+v -0.00929975 -0.00028862 0.08585066
+v -0.00930364 -0.04364707 0.08585050
+v -0.00930494 -0.04365190 0.08585819
+v -0.00134914 -0.04365193 0.09646701
+v -0.00207664 0.00574586 0.09300005
+v -0.00134654 -0.04365193 0.09576794
+v -0.00361480 -0.00357182 0.09048801
+v -0.00929975 -0.03638923 0.08585053
+v -0.00220655 0.00574586 0.09246487
+v -0.00220526 -0.04295563 0.09246469
+v -0.00220526 -0.04365192 0.09246469
+v -0.00331860 -0.04365191 0.09090781
+v -0.00361870 -0.04365191 0.09049042
+v -0.00201428 -0.04365192 0.09316376
+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 2
+f 2 9 10
+f 2 8 11
+f 2 11 9
+f 3 10 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 14 13
+f 4 13 27
+f 4 27 34
+f 4 34 38
+f 4 38 43
+f 4 43 51
+f 4 51 61
+f 4 61 60
+f 4 60 59
+f 4 59 62
+f 4 62 54
+f 4 54 52
+f 4 52 44
+f 4 44 39
+f 4 39 35
+f 4 35 28
+f 4 28 15
+f 4 15 5
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
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+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 7 24 11
+f 7 11 8
+f 9 25 10
+f 9 11 24
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+f 9 33 37
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+f 9 38 34
+f 9 34 26
+f 9 26 25
+f 10 25 12
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 18
+f 15 18 32
+f 15 32 16
+f 16 32 18
+f 16 18 17
+f 18 31 19
+f 19 31 30
+f 19 30 29
+f 19 29 36
+f 19 36 41
+f 19 41 40
+f 19 40 47
+f 19 47 46
+f 19 46 45
+f 19 45 53
+f 19 53 57
+f 19 57 48
+f 19 48 42
+f 19 42 37
+f 19 37 33
+f 19 33 23
+f 19 23 22
+f 19 22 21
+f 19 21 20
+f 23 33 24
+f 26 34 27
+f 28 35 36
+f 28 36 29
+f 35 39 40
+f 35 40 41
+f 35 41 36
+f 37 42 49
+f 37 49 56
+f 37 56 50
+f 37 50 43
+f 37 43 38
+f 39 44 45
+f 39 45 46
+f 39 46 47
+f 39 47 40
+f 42 48 49
+f 43 50 51
+f 44 52 45
+f 45 52 54
+f 45 54 53
+f 48 55 56
+f 48 56 49
+f 48 57 58
+f 48 58 59
+f 48 59 60
+f 48 60 55
+f 50 56 61
+f 50 61 51
+f 53 54 57
+f 54 62 57
+f 55 60 61
+f 55 61 56
+f 57 62 58
+f 58 62 59
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_50.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df9f7bec8cfb83d7e11f3ac131d057a1815f9f9e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_50.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00161394 -0.03336226 -0.01575778
+v 0.00325672 -0.03424119 -0.01575779
+v 0.00161394 -0.02973181 -0.01132226
+v 0.00161394 -0.01682723 -0.01575772
+v 0.00404683 -0.03428230 -0.01575779
+v 0.00728584 -0.03070667 -0.01132226
+v 0.00404683 -0.03048909 -0.01132226
+v 0.00161394 -0.02273642 -0.01132223
+v 0.00390569 -0.02023500 -0.01132222
+v 0.00755503 -0.02023843 -0.01132222
+v 0.01590719 -0.02075756 -0.01132223
+v 0.00756085 -0.01903225 -0.01575773
+v 0.00728584 -0.03433028 -0.01575779
+v 0.01603233 -0.02940286 -0.01132226
+v 0.01638591 -0.02326411 -0.01132224
+v 0.01603524 -0.02326411 -0.01213458
+v 0.01571948 -0.02107794 -0.01184411
+v 0.01018581 -0.02017159 -0.01575773
+v 0.01028039 -0.03308642 -0.01575778
+v 0.01581115 -0.02905506 -0.01197178
+v 0.01610362 -0.02654508 -0.01223054
+v 0.01624477 -0.02807505 -0.01132225
+v 0.01647904 -0.02654508 -0.01132225
+v 0.01251976 -0.02326409 -0.01575775
+v 0.01331278 -0.02654506 -0.01575776
+v 0.01292719 -0.02476322 -0.01575775
+v 0.01038953 -0.02035149 -0.01575773
+v 0.01224621 -0.02270727 -0.01575774
+v 0.01210070 -0.02241258 -0.01575774
+v 0.01250667 -0.02982602 -0.01575777
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 12
+f 1 12 18
+f 1 18 27
+f 1 27 29
+f 1 29 28
+f 1 28 24
+f 1 24 26
+f 1 26 25
+f 1 25 30
+f 1 30 19
+f 1 19 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 6
+f 3 6 14
+f 3 14 22
+f 3 22 23
+f 3 23 15
+f 3 15 11
+f 3 11 10
+f 3 10 9
+f 3 9 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 6
+f 6 13 14
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 13 19 14
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 15 23 21
+f 15 21 16
+f 16 24 17
+f 16 21 25
+f 16 25 26
+f 16 26 24
+f 17 27 18
+f 17 24 28
+f 17 28 29
+f 17 29 27
+f 19 30 20
+f 20 25 21
+f 20 30 25
+f 21 23 22
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_51.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d70f5b8673f852f8661de3c215c25c27c5c2cc43
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_51.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.02128079 0.04242827 -0.03090290
+v 0.02075962 0.03910116 -0.04420724
+v 0.02074601 0.04238192 -0.04420722
+v 0.02073868 0.04242832 -0.04420722
+v 0.01058947 0.04242827 -0.03090290
+v 0.02041426 0.02268803 -0.03090298
+v 0.01968588 -0.00028192 -0.03304816
+v 0.02010868 -0.00028191 -0.03635112
+v 0.02064136 -0.00028188 -0.04295574
+v 0.02074182 -0.00028188 -0.04420738
+v 0.02074496 0.00299888 -0.04420737
+v 0.02074601 0.00424250 -0.04420736
+v 0.02075334 0.01408942 -0.04420733
+v 0.01058947 0.04242832 -0.04420722
+v 0.01058947 0.03842361 -0.03090292
+v 0.01855982 -0.00028193 -0.03090306
+v 0.01900878 -0.00028193 -0.03101116
+v 0.01888005 -0.00251396 -0.03114011
+v 0.01915424 -0.00301975 -0.03304817
+v 0.01936564 -0.00329353 -0.03635113
+v 0.02011495 -0.00224941 -0.04420739
+v 0.01058947 0.03991323 -0.04420723
+v 0.01298706 -0.00028191 -0.03635112
+v 0.01325916 -0.00028192 -0.03304816
+v 0.01452964 -0.00028193 -0.03091999
+v 0.01463325 -0.00028193 -0.03090306
+v 0.01700363 -0.00255573 -0.03090307
+v 0.01700363 -0.00293624 -0.03096558
+v 0.01700363 -0.00437475 -0.03304818
+v 0.01700363 -0.00485270 -0.03635114
+v 0.01961262 -0.00360440 -0.04420739
+v 0.01949855 -0.00339096 -0.03965279
+v 0.01963146 -0.00345127 -0.04295575
+v 0.01365788 -0.00028188 -0.04420738
+v 0.01395196 -0.00146518 -0.04420739
+v 0.01452127 -0.00340951 -0.04420739
+v 0.01418638 -0.00348378 -0.03635113
+v 0.01432138 -0.00327498 -0.03304817
+v 0.01481430 -0.00268102 -0.03107889
+v 0.01551652 -0.00191071 -0.03090307
+v 0.01700363 -0.00492229 -0.03965280
+v 0.01700363 -0.00497796 -0.04420740
+v 0.01432975 -0.00345592 -0.03965279
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 5
+f 1 5 15
+f 1 15 26
+f 1 26 40
+f 1 40 27
+f 1 27 16
+f 1 16 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 2
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+f 2 12 11
+f 2 11 10
+f 2 10 21
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+f 2 42 36
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+f 2 22 14
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+f 2 4 3
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+f 5 22 15
+f 6 16 17
+f 6 17 7
+f 7 17 18
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+f 8 20 9
+f 9 20 10
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+f 15 22 23
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+f 16 18 17
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+f 20 32 21
+f 21 32 33
+f 21 33 31
+f 22 34 23
+f 23 34 35
+f 23 35 36
+f 23 36 37
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+f 23 38 24
+f 24 38 39
+f 24 39 25
+f 25 39 26
+f 26 39 40
+f 27 40 39
+f 27 39 28
+f 28 39 29
+f 29 39 38
+f 29 38 30
+f 30 38 37
+f 30 37 41
+f 30 41 31
+f 31 33 32
+f 31 41 42
+f 36 42 43
+f 36 43 37
+f 37 43 42
+f 37 42 41
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_52.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5991628b2f524313e96ddf5d2dd782bc34cd307a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_52.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.00593623 -0.04923860 0.02980972
+v -0.00593623 -0.04952318 0.02936742
+v -0.00936215 -0.06131108 0.01829081
+v -0.00599659 -0.04942208 0.02980972
+v -0.00593623 -0.08748948 0.02980958
+v -0.00593623 -0.06593562 0.01405714
+v -0.00603080 -0.04953067 0.02980972
+v -0.00936215 -0.06268907 0.01706733
+v -0.00936215 -0.06162937 0.01982772
+v -0.00603784 -0.08747825 0.02980958
+v -0.00593623 -0.08748948 0.02973799
+v -0.00593623 -0.06881145 0.01359892
+v -0.00641645 -0.05137675 0.02980971
+v -0.00593623 -0.06921587 0.01355756
+v -0.00593623 -0.07210669 0.01358778
+v -0.00593623 -0.08183511 0.01370706
+v -0.00593623 -0.08234437 0.01371502
+v -0.00936215 -0.06323579 0.01719620
+v -0.00936215 -0.06263293 0.02234787
+v -0.00704590 -0.08717868 0.02855428
+v -0.00593623 -0.08736216 0.02735784
+v -0.00805899 -0.08607778 0.02980958
+v -0.00673034 -0.05289705 0.02980971
+v -0.00593623 -0.08353516 0.01543488
+v -0.00738360 -0.08421295 0.02101930
+v -0.00936215 -0.06495456 0.01789623
+v -0.00936215 -0.06266663 0.02238446
+v -0.00935209 -0.06909611 0.02980965
+v -0.00927362 -0.06593568 0.02980966
+v -0.00593623 -0.08550482 0.01862802
+v -0.00593623 -0.08653459 0.02247506
+v -0.00593623 -0.08711875 0.02519249
+v -0.00795235 -0.08526145 0.02640484
+v -0.00818374 -0.08589055 0.02980958
+v -0.00815423 -0.08590178 0.02967594
+v -0.00760358 -0.08467353 0.02310192
+v -0.00933801 -0.08234443 0.02980960
+v -0.00936215 -0.06535897 0.01923267
+v -0.00933834 -0.08224333 0.02980960
+v -0.00935846 -0.07240257 0.02980963
+v -0.00936215 -0.06270782 0.02241151
+v -0.00822834 -0.08575949 0.02980958
+v -0.00936215 -0.06529531 0.01974975
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 13
+f 1 13 23
+f 1 23 29
+f 1 29 28
+f 1 28 40
+f 1 40 39
+f 1 39 37
+f 1 37 42
+f 1 42 34
+f 1 34 22
+f 1 22 10
+f 1 10 5
+f 1 5 11
+f 1 11 21
+f 1 21 32
+f 1 32 31
+f 1 31 30
+f 1 30 24
+f 1 24 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 18
+f 3 18 26
+f 3 26 38
+f 3 38 43
+f 3 43 41
+f 3 41 27
+f 3 27 19
+f 3 19 9
+f 3 9 7
+f 5 10 11
+f 6 12 8
+f 7 9 13
+f 8 12 14
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 9 19 13
+f 10 20 21
+f 10 21 11
+f 10 22 20
+f 13 19 23
+f 17 24 25
+f 17 25 26
+f 17 26 18
+f 19 27 28
+f 19 28 29
+f 19 29 23
+f 20 30 31
+f 20 31 32
+f 20 32 21
+f 20 22 33
+f 20 33 30
+f 22 34 35
+f 22 35 33
+f 24 30 25
+f 25 30 36
+f 25 36 37
+f 25 37 26
+f 26 37 39
+f 26 39 40
+f 26 40 38
+f 27 41 28
+f 28 41 40
+f 30 33 36
+f 33 37 36
+f 33 35 34
+f 33 34 42
+f 33 42 37
+f 38 40 43
+f 40 41 43
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_53.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81d99def3db64e0b00811d25f6fcc9cd29fb2348
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_53.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.00538358 0.09025044 0.02981023
+v -0.00538358 0.09025044 0.02979550
+v -0.00584845 0.09021915 0.02981023
+v -0.00538358 0.05029624 0.02981008
+v -0.00538358 0.09024653 0.02920245
+v -0.00538358 0.09021525 0.02769589
+v -0.00608380 0.09018786 0.02981023
+v -0.00601066 0.05224017 0.02981009
+v -0.00538358 0.05112545 0.02838641
+v -0.00538358 0.09010573 0.02640482
+v -0.00725394 0.08998056 0.02981023
+v -0.00603362 0.05234186 0.02981009
+v -0.00772230 0.06682163 0.02080579
+v -0.00598771 0.05223235 0.02970695
+v -0.00538358 0.05223236 0.02681907
+v -0.00538358 0.08970288 0.02310254
+v -0.00705982 0.08989452 0.02851363
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+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_54.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..240bb4616c4427f4576e30cef7c93346b37c24bd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_54.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.00229737 -0.02653000 0.01007456
+v -0.00014828 -0.02710090 0.00854475
+v 0.00229737 -0.02865794 0.00946010
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+v 0.00229737 -0.02075599 0.00875717
+v -0.00014828 -0.01992881 0.00730828
+v -0.00014852 -0.00583434 -0.01131996
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+v -0.00014828 -0.03417564 -0.00331701
+v -0.00014828 -0.03428917 -0.00230557
+v -0.00014828 -0.03447083 -0.00030037
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+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_55.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9903f36473838e55956d72f252ac77ed52f2253e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_55.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.01255573 0.00959282 0.00537481
+v -0.00666979 0.00822644 -0.00286642
+v -0.00666979 0.00841491 -0.00331066
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+v -0.00666979 0.00916357 -0.00529132
+v -0.00666979 0.00959286 -0.00675406
+v -0.02002740 0.00959282 0.00537481
+v -0.00718097 0.00380782 0.00537478
+v -0.00670734 0.00521089 0.00248830
+v -0.00666979 0.00528942 0.00227810
+v -0.00666979 0.00959290 -0.01676140
+v -0.02797061 0.00959290 -0.01676140
+v -0.02003575 0.00087082 0.00537477
+v -0.00666979 0.00309058 0.00537478
+v -0.00666979 -0.04389088 -0.01676160
+v -0.02003783 -0.00241695 0.00537476
+v -0.02798105 -0.02020640 -0.01676151
+v -0.00666979 -0.02286601 0.00537469
+v -0.00666979 -0.04389088 -0.01666408
+v -0.01686013 -0.04389088 -0.01676160
+v -0.02798313 -0.02654111 -0.01676154
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+v -0.01928044 -0.04389094 -0.00001913
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+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_56.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6600db608ff325ab1884ff024db33c9447120177
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_56.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00559051 -0.00785162 -0.04092508
+v 0.00591538 -0.00805416 -0.04092508
+v 0.00559051 0.00715715 -0.04509871
+v 0.00559051 -0.04550334 -0.04092522
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+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_57.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5529898610be8d8ef2255986dd098e375f4fa4f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_57.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v -0.01192714 0.06871770 -0.01676119
+v -0.00891342 0.06873095 -0.02974343
+v -0.01215126 0.06871770 -0.01676119
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_58.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3adca8612d35850d66bbb95348c1b7feabe0174
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_58.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
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+v 0.01320193 -0.06102161 -0.01675136
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+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_59.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1646c39fe106d50410855bae9f6cb9273a793385
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_59.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_6.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..782ba1b09089374cddfe338271d1a8d05cc370c6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_6.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_60.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0fa4ece919cea51d28330f233f50d0e483963b9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_60.obj
@@ -0,0 +1,211 @@
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_61.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66199619b806deef4129a06b9ab356e1da82c87e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_61.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_62.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dbf746197fed23ee7985ddef6bf8a884e7b53b5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_62.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_63.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1a461e83fd1dfc8b33ffe238bb57c284b9f6c06
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_63.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.00492264 -0.06586076 -0.04092393
+v -0.00235122 -0.06516517 -0.04092393
+v -0.00492264 -0.06585910 -0.03972365
+v -0.00492264 -0.04894288 -0.04092387
+v -0.00122060 -0.06449773 -0.04092393
+v -0.00311925 -0.06514531 -0.03635006
+v -0.00492264 -0.06578459 -0.03635006
+v -0.00109613 -0.04894288 -0.04092387
+v -0.00492264 -0.04894293 -0.02762143
+v -0.00087561 -0.06265108 -0.04092392
+v -0.00492264 -0.06265114 -0.02419907
+v -0.00382604 -0.06459383 -0.03043786
+v -0.00350466 -0.06492008 -0.03304717
+v -0.00492264 -0.06551134 -0.03304717
+v -0.00095725 -0.05077793 -0.04092388
+v -0.00128303 -0.04894288 -0.03985994
+v -0.00492264 -0.05280515 -0.02458453
+v -0.00332896 -0.04894291 -0.03277103
+v -0.00083599 -0.05936853 -0.04092391
+v -0.00492264 -0.05936859 -0.02372601
+v -0.00492264 -0.06501781 -0.02977796
+v -0.00090403 -0.05151493 -0.04092388
+v -0.00223276 -0.04894290 -0.03635000
+v -0.00492264 -0.05509399 -0.02413843
+v -0.00083439 -0.05608764 -0.04092390
+v -0.00492264 -0.05876409 -0.02374790
+v -0.00087441 -0.05280509 -0.04092388
+v -0.00492264 -0.05608770 -0.02401387
+v -0.00086680 -0.05338641 -0.04092389
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 21
+f 1 21 11
+f 1 11 20
+f 1 20 26
+f 1 26 28
+f 1 28 24
+f 1 24 17
+f 1 17 9
+f 1 9 4
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+f 1 22 27
+f 1 27 29
+f 1 29 25
+f 1 25 19
+f 1 19 10
+f 1 10 5
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+f 4 16 8
+f 5 10 11
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+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 7
+f 8 16 15
+f 9 17 18
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+f 11 21 12
+f 12 21 13
+f 13 21 14
+f 15 16 22
+f 16 23 17
+f 16 17 24
+f 16 24 22
+f 17 23 18
+f 19 25 20
+f 20 25 26
+f 22 24 28
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+f 22 26 27
+f 25 29 26
+f 26 29 27
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_64.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b15bfcb28ac74adce48d4896ab37dc6bbcc80c1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_64.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.01058947 0.09042274 -0.04092336
+v 0.01058947 0.09038160 -0.04302461
+v 0.01052509 0.09038160 -0.04295713
+v 0.01052509 0.09041900 -0.04092336
+v 0.01058947 0.05221024 -0.04092350
+v 0.01058947 0.09022452 -0.04783676
+v 0.00861414 0.09014222 -0.04295713
+v 0.00921259 0.09026564 -0.04092336
+v 0.00953206 0.05221024 -0.04092350
+v 0.01058947 0.05221026 -0.04597766
+v 0.01058947 0.09010109 -0.04956570
+v 0.00901652 0.08994399 -0.04769715
+v 0.00878192 0.09005245 -0.04549351
+v 0.00847806 0.09017213 -0.04092336
+v 0.00676757 0.08831686 -0.04092337
+v 0.00952035 0.05221024 -0.04092583
+v 0.00567212 0.06864954 -0.04092344
+v 0.00879265 0.06685791 -0.05512954
+v 0.01058947 0.06864963 -0.06404878
+v 0.01058947 0.08967843 -0.05286300
+v 0.01058947 0.08833189 -0.05935524
+v 0.00850976 0.08755011 -0.05286301
+v 0.00816591 0.08808124 -0.04956571
+v 0.00796740 0.08864604 -0.04646153
+v 0.00565895 0.08532076 -0.04092338
+v 0.00560725 0.07192618 -0.04092343
+v 0.00567651 0.07192618 -0.04125852
+v 0.00870535 0.06864959 -0.05552746
+v 0.00905554 0.06864960 -0.05717727
+v 0.01058947 0.07025429 -0.06446065
+v 0.01058947 0.08627839 -0.06275725
+v 0.00875753 0.08705264 -0.05521557
+v 0.00563164 0.08505518 -0.04092338
+v 0.00810543 0.07192248 -0.05286307
+v 0.00742553 0.08505521 -0.04956572
+v 0.00811519 0.08505522 -0.05286302
+v 0.00902432 0.07192250 -0.05725172
+v 0.01058947 0.07192253 -0.06469567
+v 0.01058947 0.08505527 -0.06464443
+v 0.01058947 0.08317383 -0.06466304
+v 0.01058947 0.08176741 -0.06467236
+f 1 2 3
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+f 1 25 33
+f 1 33 26
+f 1 26 17
+f 1 17 9
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+f 32 35 33
+f 34 36 37
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+f 36 41 37
+f 37 41 38
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_65.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c06f274adcfba8fb26ffe2d382b823bf4fda4521
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_65.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.02146976 -0.05938359 0.02980968
+v -0.02169613 -0.04365169 0.02980974
+v -0.01234733 -0.05938359 0.02980968
+v -0.02427393 -0.05938367 0.05281274
+v -0.02430237 -0.05938213 0.05304015
+v -0.01462883 -0.04365169 0.02980974
+v -0.02445526 -0.04365177 0.05304021
+v -0.01234733 -0.05608353 0.02980969
+v -0.01234733 -0.05938367 0.05302650
+v -0.02427511 -0.05938367 0.05282638
+v -0.02368015 -0.05938367 0.05304015
+v -0.01234733 -0.05523041 0.02981652
+v -0.01469401 -0.04365169 0.03040784
+v -0.01234733 -0.05428497 0.05130727
+v -0.01234733 -0.05362587 0.04816893
+v -0.01716277 -0.04365177 0.05304021
+v -0.01234733 -0.05934979 0.05304015
+v -0.01234851 -0.05938367 0.05304015
+v -0.01702173 -0.04365177 0.05174849
+v -0.01234733 -0.05608361 0.05268084
+v -0.01234733 -0.05676734 0.05304016
+v -0.01234733 -0.05620372 0.05274679
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+f 1 8 3
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+f 1 11 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
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+f 2 13 6
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+f 16 21 22
+f 16 22 20
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_66.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52d53ad18d096c313e1423c9c7fe18e90851e553
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_66.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.01058947 0.05220863 -0.04092350
+v 0.01058947 0.05220865 -0.04597683
+v 0.00953216 0.05220863 -0.04092350
+v 0.01058947 0.03985146 -0.04092354
+v 0.00952072 0.05220863 -0.04092479
+v 0.01058947 0.05172783 -0.04684248
+v 0.00734124 0.04773701 -0.05207643
+v 0.00952294 0.05219582 -0.04092350
+v 0.00734124 0.04074740 -0.04092354
+v 0.00734124 0.03583661 -0.04956208
+v 0.01058947 0.03966076 -0.04956206
+v 0.00734124 0.04815372 -0.04956203
+v 0.00734124 0.04878998 -0.04092351
+v 0.01058947 0.05020043 -0.04956203
+v 0.00734124 0.04561499 -0.05377551
+v 0.01058947 0.04871950 -0.05207514
+v 0.00734124 0.03876804 -0.05276151
+v 0.01058947 0.04008871 -0.05195648
+v 0.01058947 0.04566627 -0.05365424
+v 0.00734124 0.04296244 -0.05407353
+v 0.00734124 0.04238545 -0.05410320
+v 0.01058947 0.04238545 -0.05340784
+v 0.01058947 0.04228929 -0.05337042
+v 0.01058947 0.04555408 -0.05364907
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+f 21 24 22
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_67.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..693118f576b2f893c7ad4beaebe4e5a716a65a17
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_67.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.00455038 -0.04337729 -0.01575782
+v 0.00462401 -0.04389088 -0.01575782
+v 0.00505156 -0.04389089 -0.01420151
+v 0.00606283 -0.04389090 -0.01141316
+v 0.00728610 -0.04070904 -0.01575781
+v 0.01061683 -0.04389088 -0.01575782
+v 0.00742208 -0.04389090 -0.01132949
+v 0.00925401 -0.04071651 -0.01575781
+v 0.01055507 -0.04361275 -0.01575782
+v 0.01054913 -0.04389088 -0.01549035
+v 0.00952598 -0.04389089 -0.01365876
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 8
+f 1 8 9
+f 1 9 6
+f 1 6 2
+f 2 6 10
+f 2 10 11
+f 2 11 7
+f 2 7 4
+f 2 4 3
+f 4 7 5
+f 5 7 8
+f 6 9 10
+f 7 11 8
+f 8 11 10
+f 8 10 9
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_68.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c113eab538b1095e0cda1b1e3d131b538f9503cf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_68.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.01058947 -0.04860367 -0.04711981
+v 0.01058947 -0.04860369 -0.04092722
+v 0.01040510 -0.04860367 -0.04626150
+v 0.00733120 -0.04767470 -0.06937892
+v 0.01058947 -0.04555150 -0.07210137
+v 0.01058947 -0.01814158 -0.04092711
+v 0.00950274 -0.04860369 -0.04092722
+v 0.00981437 -0.04860368 -0.04295901
+v 0.00733120 -0.04608537 -0.07256405
+v 0.01058947 -0.04553606 -0.07220530
+v 0.00733120 -0.04588490 -0.04092721
+v 0.00733120 -0.01779286 -0.04092711
+v 0.01058947 -0.01716327 -0.05286635
+v 0.00733120 -0.04342214 -0.07379786
+v 0.01058947 -0.04214144 -0.07472657
+v 0.01058947 -0.04377394 -0.07384480
+v 0.01058947 -0.04384492 -0.07380121
+v 0.01058947 -0.01716018 -0.05296694
+v 0.00733120 -0.01707989 -0.06937880
+v 0.00733120 -0.04178038 -0.07445164
+v 0.01058947 -0.03967261 -0.07513225
+v 0.01058947 -0.01716633 -0.05616885
+v 0.01058947 -0.01737306 -0.06937880
+v 0.00733120 -0.01708297 -0.06941233
+v 0.00733120 -0.03967262 -0.07457234
+v 0.01058947 -0.03648167 -0.07516912
+v 0.01058947 -0.01760759 -0.07180957
+v 0.00733120 -0.01766313 -0.07179950
+v 0.00733120 -0.02331054 -0.07459575
+v 0.01058947 -0.03319814 -0.07517246
+v 0.01058947 -0.01940364 -0.07349937
+v 0.00733120 -0.01768782 -0.07182297
+v 0.01058947 -0.02326424 -0.07513219
+v 0.01058947 -0.02663726 -0.07517579
+v 0.00733120 -0.02123056 -0.07446834
+v 0.01058947 -0.02099911 -0.07471979
+v 0.00733120 -0.01957954 -0.07346920
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+v 0.00733120 -0.02119662 -0.07446498
+v 0.01058947 -0.02108861 -0.07474327
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+f 36 40 39
+f 36 39 37
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_69.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4d418310cd7e32c13567194f151cbd75fa186be
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_69.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.00156155 0.03586166 -0.03049238
+v 0.00186710 0.03586170 -0.04092356
+v 0.00052698 0.03586166 -0.03049238
+v 0.00141685 0.02247313 -0.03049243
+v 0.00184519 0.01423554 -0.04092364
+v 0.00184820 0.01612611 -0.04092363
+v 0.00185201 0.01940973 -0.04092362
+v 0.00052698 0.03586170 -0.04092356
+v 0.00052698 0.01423550 -0.03049246
+v 0.00064046 0.01423550 -0.03049246
+v 0.00052698 0.01423554 -0.04092364
+f 1 2 8
+f 1 8 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 6
+f 2 6 5
+f 2 5 11
+f 2 11 8
+f 3 8 11
+f 3 11 9
+f 4 10 5
+f 5 10 9
+f 5 9 11
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_7.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..125b92cc9e94a46c59fa741952ea7d61b736348d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_7.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.00891351 0.00574579 0.11200603
+v -0.01215396 0.00628133 0.11187809
+v -0.01215396 0.00574579 0.11187809
+v -0.00634217 0.00574579 0.11119402
+v -0.00633788 0.02597622 0.11119671
+v -0.00633788 0.03581967 0.11119674
+v -0.00891351 0.04657433 0.11200357
+v -0.01734382 0.00628133 0.11070838
+v -0.01215396 0.04566313 0.11187041
+v -0.01734382 0.00574579 0.11070838
+v -0.00498466 0.00574580 0.10987288
+v -0.00471873 0.02597623 0.10961970
+v -0.00471873 0.03253454 0.10961972
+v -0.00634003 0.04238197 0.11119677
+v -0.00634003 0.04657433 0.11119417
+v -0.01125753 0.04657433 0.11190697
+v -0.01896512 0.00628133 0.11031152
+v -0.01731809 0.04566313 0.11070331
+v -0.01215396 0.04657433 0.11186780
+v -0.01896512 0.00574579 0.11031152
+v -0.00472302 0.00574580 0.10961701
+v -0.00472087 0.00956249 0.10961703
+v -0.00398100 0.00574580 0.10823320
+v -0.00383731 0.00574580 0.10796427
+v -0.00383731 0.02597623 0.10796696
+v -0.00383731 0.02925338 0.10796697
+v -0.00383946 0.04566314 0.10796703
+v -0.00447639 0.04657434 0.10916024
+v -0.00471873 0.03910083 0.10961713
+v -0.00472087 0.04657434 0.10961716
+v -0.00589181 0.04657433 0.11075815
+v -0.02174019 0.02269109 0.10865624
+v -0.02173805 0.00628134 0.10865879
+v -0.01894153 0.04238197 0.11030644
+v -0.02173805 0.04657434 0.10865371
+v -0.02174019 0.03910083 0.10865368
+v -0.01678623 0.04657433 0.11082081
+v -0.01731594 0.04657433 0.11070070
+v -0.01893724 0.04657433 0.11030384
+v -0.02173805 0.00574580 0.10865879
+v -0.00327543 0.00574581 0.10567446
+v -0.00327543 0.03910084 0.10567458
+v -0.00327758 0.04566315 0.10567461
+v -0.00383946 0.04657434 0.10796442
+v -0.02174234 0.02597623 0.10865364
+v -0.02330359 0.04657435 0.10567461
+v -0.02199111 0.00574580 0.10817576
+v -0.02174019 0.00956249 0.10865620
+v -0.00269854 0.00574582 0.10290685
+v -0.00258488 0.00956251 0.10237162
+v -0.00258488 0.03910085 0.10237172
+v -0.00258703 0.04238200 0.10237174
+v -0.00259131 0.04657436 0.10237175
+v -0.00308885 0.04657436 0.10476078
+v -0.00327972 0.04657435 0.10567461
+v -0.02330573 0.02925339 0.10567455
+v -0.02241145 0.04657441 0.08916293
+v -0.02329930 0.00956250 0.10567448
+v -0.02329715 0.00628135 0.10567446
+v -0.02329501 0.00574581 0.10567446
+v -0.00258703 0.00574582 0.10237160
+v -0.00190720 0.00574584 0.09906875
+v -0.00190505 0.03910087 0.09906887
+v -0.00190934 0.04657438 0.09906890
+v -0.00240259 0.04657437 0.10145792
+v -0.02209619 0.04657443 0.08533265
+v -0.02195465 0.00574589 0.08533250
+v -0.02226347 0.00574587 0.08916278
+v -0.00140537 0.00574585 0.09576850
+v -0.00139679 0.04238203 0.09576864
+v -0.00176780 0.04657438 0.09815767
+v -0.00927380 0.04657443 0.08533265
+v -0.00927380 0.00574589 0.08533250
+v -0.00207662 0.00574586 0.09300088
+v -0.00220529 0.00956255 0.09246566
+v -0.00220100 0.02925344 0.09246573
+v -0.00219886 0.03910089 0.09246576
+v -0.00219886 0.04657440 0.09246579
+v -0.00161982 0.04657439 0.09485481
+v -0.00139893 0.04657439 0.09576865
+v -0.00361427 0.04657441 0.09048668
+v -0.00927165 0.04290562 0.08533264
+v -0.00926951 0.02269118 0.08533256
+v -0.00361427 0.00574587 0.09048653
+v -0.00220744 0.00574586 0.09246564
+v -0.00258917 0.04657440 0.09191749
+v -0.00926951 0.03633932 0.08533261
+f 1 2 3
+f 1 3 10
+f 1 10 20
+f 1 20 40
+f 1 40 47
+f 1 47 60
+f 1 60 68
+f 1 68 67
+f 1 67 73
+f 1 73 84
+f 1 84 85
+f 1 85 74
+f 1 74 69
+f 1 69 62
+f 1 62 61
+f 1 61 49
+f 1 49 41
+f 1 41 24
+f 1 24 23
+f 1 23 21
+f 1 21 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 10
+f 2 10 3
+f 2 7 9
+f 2 9 8
+f 4 11 5
+f 5 12 13
+f 5 13 6
+f 5 11 12
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 31
+f 7 31 30
+f 7 30 28
+f 7 28 44
+f 7 44 55
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+f 7 53 65
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+f 7 64 71
+f 7 71 80
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+f 7 78 86
+f 7 86 81
+f 7 81 72
+f 7 72 66
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+f 7 46 35
+f 7 35 39
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+f 7 37 19
+f 7 19 16
+f 7 16 9
+f 8 17 20
+f 8 20 10
+f 8 9 18
+f 8 18 17
+f 9 16 19
+f 9 19 18
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 13
+f 13 26 27
+f 13 27 28
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+f 13 29 30
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+f 14 30 31
+f 14 31 15
+f 17 32 33
+f 17 33 40
+f 17 40 20
+f 17 18 34
+f 17 34 35
+f 17 35 36
+f 17 36 32
+f 18 19 37
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+f 18 38 39
+f 18 39 34
+f 21 23 22
+f 24 41 25
+f 25 41 42
+f 25 42 26
+f 26 42 27
+f 27 43 44
+f 27 44 28
+f 27 42 43
+f 28 30 29
+f 32 36 45
+f 32 45 48
+f 32 48 40
+f 32 40 33
+f 34 39 35
+f 35 46 36
+f 36 46 45
+f 40 48 47
+f 41 49 50
+f 41 50 51
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+f 43 55 44
+f 43 51 52
+f 45 46 56
+f 45 56 48
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+f 47 58 59
+f 47 59 60
+f 47 48 56
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+f 49 61 50
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+f 51 63 64
+f 51 64 52
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+f 52 65 53
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+f 57 66 67
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+f 57 59 58
+f 59 68 60
+f 62 69 70
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+f 63 70 71
+f 63 71 64
+f 66 72 82
+f 66 82 87
+f 66 87 83
+f 66 83 73
+f 66 73 67
+f 69 74 75
+f 69 75 70
+f 70 76 77
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+f 70 79 80
+f 70 80 71
+f 70 75 76
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+f 74 85 75
+f 75 85 84
+f 75 84 76
+f 76 84 77
+f 77 86 78
+f 77 84 86
+f 81 87 82
+f 81 86 84
+f 81 84 83
+f 81 83 87
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_70.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a0d27d01a737e6b7d660532f592c685aa63ceda
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_70.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.02261121 0.04657463 0.02981007
+v -0.02260048 0.04895000 0.02981008
+v -0.01654087 0.04657463 0.02981007
+v -0.02503774 0.04657457 0.04622174
+v -0.02259914 0.04905095 0.02981008
+v -0.02452908 0.04894995 0.04291901
+v -0.01322855 0.05606125 0.02981011
+v -0.01371842 0.05708857 0.03822592
+v -0.01955255 0.04657454 0.05404676
+v -0.02551687 0.04657456 0.04952448
+v -0.02501493 0.04894994 0.04622175
+v -0.02255350 0.05223246 0.02981009
+v -0.01258434 0.05872612 0.02981012
+v -0.01347550 0.05878101 0.03944311
+v -0.01391034 0.05767646 0.04042775
+v -0.01577050 0.05879580 0.05404681
+v -0.01646437 0.05624674 0.05404680
+v -0.02617048 0.04657454 0.05404676
+v -0.02549272 0.04894993 0.04952449
+v -0.02495722 0.05223240 0.04622176
+v -0.02447406 0.05223241 0.04291902
+v -0.02255082 0.05233341 0.02981009
+v -0.01257092 0.05879589 0.02981012
+v -0.01353858 0.05986477 0.04159985
+v -0.01561079 0.06174126 0.05404682
+v -0.01342450 0.06174131 0.04174934
+v -0.02614632 0.04894991 0.05404677
+v -0.02543501 0.05223239 0.04952450
+v -0.02486193 0.05551337 0.04622177
+v -0.02438145 0.05551338 0.04291903
+v -0.02246090 0.05561439 0.02981010
+v -0.02599735 0.05551334 0.05404679
+v -0.01245952 0.06174135 0.02981013
+v -0.01311447 0.06174131 0.03959971
+v -0.01314534 0.06174131 0.03992002
+v -0.02580274 0.06174126 0.05404682
+v -0.02608861 0.05223237 0.05404678
+v -0.02605506 0.05344529 0.05404679
+v -0.02226495 0.06174135 0.02981013
+f 1 2 5
+f 1 5 12
+f 1 12 22
+f 1 22 31
+f 1 31 39
+f 1 39 33
+f 1 33 23
+f 1 23 13
+f 1 13 7
+f 1 7 3
+f 1 3 9
+f 1 9 18
+f 1 18 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 6
+f 5 6 12
+f 6 11 12
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+f 8 17 9
+f 9 17 16
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+f 9 36 32
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+f 9 37 27
+f 9 27 18
+f 10 19 11
+f 10 18 27
+f 10 27 19
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+f 11 20 21
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+f 12 21 22
+f 13 23 14
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+f 15 24 16
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+f 16 26 25
+f 19 27 37
+f 19 37 28
+f 20 29 30
+f 20 30 31
+f 20 31 21
+f 20 28 32
+f 20 32 29
+f 21 31 22
+f 23 33 34
+f 23 34 24
+f 24 34 35
+f 24 35 26
+f 25 26 35
+f 25 35 34
+f 25 34 33
+f 25 33 39
+f 25 39 36
+f 28 37 38
+f 28 38 32
+f 29 32 36
+f 29 36 30
+f 30 36 39
+f 30 39 31
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_71.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45eb3005ea3b3f2637d9edc51b7bce36eb9d3ef6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_71.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00052783 -0.04311116 -0.01983699
+v 0.00638653 -0.04681053 -0.02502088
+v 0.00525577 -0.04681055 -0.01972948
+v 0.00469137 -0.04681056 -0.01676241
+v 0.00052783 -0.04245799 -0.01730731
+v 0.00052783 -0.04301867 -0.02004962
+v 0.01058947 -0.04681053 -0.02502088
+v 0.00052783 -0.04203312 -0.02231008
+v 0.00052783 -0.03967186 -0.02334976
+v 0.00052783 -0.02103326 -0.02502079
+v 0.01058947 -0.04681056 -0.01676241
+v 0.00052783 -0.04156494 -0.01676239
+v 0.00052783 -0.04164008 -0.01678988
+v 0.00052783 -0.04239152 -0.01706962
+v 0.01058947 -0.01728474 -0.02502077
+v 0.00052783 -0.01728474 -0.02502077
+v 0.01058947 -0.01834256 -0.01676231
+v 0.00052783 -0.01728477 -0.01676230
+v 0.01058947 -0.01728477 -0.01720696
+v 0.01058947 -0.01826164 -0.01679546
+v 0.00931982 -0.01764892 -0.01676230
+v 0.00736758 -0.01728477 -0.01676230
+v 0.00977882 -0.01728477 -0.01702425
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 13
+f 1 13 12
+f 1 12 18
+f 1 18 16
+f 1 16 10
+f 1 10 9
+f 1 9 8
+f 1 8 6
+f 1 6 2
+f 2 7 11
+f 2 11 4
+f 2 4 3
+f 2 6 8
+f 2 8 9
+f 2 9 10
+f 2 10 16
+f 2 16 15
+f 2 15 7
+f 4 11 17
+f 4 17 21
+f 4 21 22
+f 4 22 18
+f 4 18 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
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+f 7 19 20
+f 7 20 17
+f 7 17 11
+f 15 16 18
+f 15 18 22
+f 15 22 23
+f 15 23 19
+f 17 20 21
+f 19 23 21
+f 19 21 20
+f 21 23 22
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_72.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a56f446723ca95b70cc97e0b1a1cf3e3191056d0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_72.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.00114057 0.01423241 -0.02863965
+v 0.00184526 0.01423245 -0.04092245
+v 0.00052685 0.01423241 -0.02863965
+v 0.00415923 -0.01013281 -0.02863974
+v 0.00531256 -0.01036112 -0.03333642
+v 0.00557141 -0.00942007 -0.03512923
+v 0.00573313 -0.00841114 -0.03733087
+v 0.00591505 -0.00805014 -0.04092253
+v 0.00052685 0.01423245 -0.04092245
+v 0.00052685 -0.01728163 -0.02863976
+v 0.00460394 -0.01728163 -0.02863976
+v 0.00567305 -0.01160760 -0.03463023
+v 0.00578703 -0.01036111 -0.03627756
+v 0.00612955 -0.01013277 -0.03965277
+v 0.00626319 -0.01013277 -0.04092254
+v 0.00052685 -0.01728159 -0.04092256
+v 0.00396831 -0.01728159 -0.04092256
+v 0.00601332 -0.01219998 -0.04092254
+v 0.00614976 -0.01136075 -0.04092254
+v 0.00567305 -0.01178347 -0.03463023
+f 1 2 9
+f 1 9 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 15
+f 2 15 19
+f 2 19 18
+f 2 18 17
+f 2 17 16
+f 2 16 9
+f 3 9 16
+f 3 16 10
+f 4 11 5
+f 5 12 6
+f 5 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 12 20 15
+f 12 15 13
+f 13 15 14
+f 15 20 19
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_73.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..815fd91b825527e8c9b2f2b2de1fbd21efa6a77e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_73.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00052881 -0.00341324 -0.01676395
+v 0.00052881 -0.01728168 -0.01676400
+v 0.00736691 -0.01728168 -0.01676400
+v 0.00977792 -0.01728168 -0.01702473
+v 0.00593389 0.03493048 -0.02138300
+v 0.00404684 0.03253758 -0.02093413
+v 0.00080754 0.02924992 -0.02030920
+v 0.00052881 0.02924992 -0.02029710
+v 0.00052881 -0.01728163 -0.02863924
+v 0.01058947 -0.01728168 -0.01720751
+v 0.01058947 0.03586163 -0.02274847
+v 0.00702613 0.03586163 -0.02189909
+v 0.00404093 0.03586163 -0.02132253
+v 0.00388040 0.03586163 -0.02130909
+v 0.00380357 0.03586163 -0.02130371
+v 0.00080754 0.03253758 -0.02071641
+v 0.00052881 0.03253758 -0.02070431
+v 0.00460527 -0.01728163 -0.02863924
+v 0.00052881 0.01423188 -0.03049246
+v 0.01058947 -0.01728164 -0.02753317
+v 0.01058947 0.03586166 -0.02992791
+v 0.00188008 0.03586163 -0.02120157
+v 0.00085580 0.03586163 -0.02114781
+v 0.00052881 0.03581481 -0.02112631
+v 0.00064208 0.01423188 -0.03049246
+v 0.01052348 -0.01728164 -0.02755601
+v 0.00052881 0.03586166 -0.03049238
+v 0.00156295 0.03586166 -0.03049238
+v 0.00141817 0.02247180 -0.03049243
+v 0.00052881 0.03586163 -0.02113303
+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 17
+f 1 17 24
+f 1 24 30
+f 1 30 27
+f 1 27 19
+f 1 19 9
+f 1 9 2
+f 2 9 18
+f 2 18 26
+f 2 26 20
+f 2 20 10
+f 2 10 4
+f 2 4 3
+f 4 10 5
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+f 5 12 13
+f 5 13 6
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+f 9 25 18
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+f 11 21 28
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+f 11 27 30
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+f 19 27 28
+f 19 28 29
+f 19 29 25
+f 20 26 21
+f 21 25 29
+f 21 29 28
+f 23 30 24
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_74.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0073ff770e6810d4cc8dd18f2681e40dad3945ee
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_74.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.00495228 0.01105065 -0.06190677
+v 0.00556687 0.01105066 -0.06491590
+v -0.00280958 0.01105065 -0.06190677
+v 0.00558956 -0.01679971 -0.06190687
+v 0.00558105 0.01105066 -0.06498564
+v -0.00157661 0.01105067 -0.06937949
+v -0.00406903 -0.00987296 -0.07289846
+v -0.00406903 -0.00893633 -0.06937956
+v -0.00406903 -0.00935178 -0.06815081
+v -0.00406903 -0.01009960 -0.06596593
+v -0.00406903 -0.01570443 -0.06190687
+v 0.00558956 0.01105066 -0.06503129
+v 0.00558956 -0.04695394 -0.06190698
+v -0.00111708 0.01105068 -0.07180784
+v -0.00406903 -0.01344584 -0.07400549
+v -0.00406903 -0.06611003 -0.06190705
+v 0.00558956 0.01105069 -0.07375432
+v 0.00458068 -0.06265045 -0.06190704
+v 0.00546003 -0.06265044 -0.06513301
+v 0.00558956 -0.06265044 -0.06561614
+v -0.00033135 0.01105069 -0.07271071
+v 0.00032296 0.01105069 -0.07346013
+v 0.00120609 0.01105069 -0.07400667
+v 0.00194171 0.01105069 -0.07446190
+v -0.00406903 -0.02002508 -0.07462052
+v -0.00406903 -0.06611001 -0.06937977
+v 0.00080613 -0.06611757 -0.06607772
+v -0.00243231 -0.06611003 -0.06190705
+v 0.00532198 0.01105069 -0.07423999
+v 0.00558956 -0.02326561 -0.07463322
+v 0.00437645 -0.06328495 -0.06190704
+v 0.00558956 -0.06458417 -0.06693367
+v 0.00370134 0.01105069 -0.07446190
+v -0.00406903 -0.02326561 -0.07485640
+v -0.00406903 -0.02128655 -0.07473592
+v 0.00080613 -0.06611001 -0.06937977
+v -0.00406903 -0.06580030 -0.07104728
+v 0.00404551 -0.06571722 -0.06937977
+v 0.00080613 -0.06611003 -0.06277568
+v 0.00080613 -0.06607226 -0.06190705
+v 0.00558956 -0.03794993 -0.07461552
+v -0.00243231 -0.03967216 -0.07485773
+v 0.00080613 -0.02326561 -0.07476891
+v 0.00348008 -0.06515827 -0.06190705
+v 0.00558956 -0.06503739 -0.06937977
+v -0.00243231 -0.02326561 -0.07485514
+v -0.00406903 -0.02488964 -0.07485767
+v -0.00406903 -0.06546037 -0.07268308
+v -0.00243231 -0.06543016 -0.07268308
+v 0.00080613 -0.06535462 -0.07268308
+v 0.00424313 -0.06499204 -0.07299503
+v 0.00558956 -0.06483342 -0.07234705
+v 0.00558956 -0.03967216 -0.07461299
+v -0.00406903 -0.03967216 -0.07486154
+v -0.00243231 -0.02982219 -0.07485769
+v -0.00406903 -0.06265041 -0.07471706
+v -0.00406903 -0.02816793 -0.07485895
+v -0.00406903 -0.06500715 -0.07362146
+v -0.00406903 -0.06455393 -0.07451671
+v -0.00243231 -0.06451617 -0.07449135
+v 0.00080613 -0.06444063 -0.07443556
+v 0.00329571 -0.06436509 -0.07438230
+v 0.00558956 -0.06301299 -0.07393086
+v 0.00558956 -0.06009727 -0.07432268
+v 0.00548461 -0.06265041 -0.07430874
+v 0.00386492 -0.06265041 -0.07441779
+v 0.00080613 -0.06265041 -0.07455855
+v -0.00243231 -0.06265041 -0.07466507
+v -0.00406903 -0.03310803 -0.07486024
+v -0.00406903 -0.06357196 -0.07463083
+v 0.00558956 -0.06265041 -0.07410205
+f 1 2 5
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+f 1 12 17
+f 1 17 29
+f 1 29 33
+f 1 33 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 14
+f 1 14 6
+f 1 6 3
+f 1 3 11
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+f 1 16 28
+f 1 28 40
+f 1 40 44
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+f 1 18 13
+f 1 13 4
+f 1 4 2
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+f 4 12 5
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+f 4 32 45
+f 4 45 52
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+f 4 63 71
+f 4 71 64
+f 4 64 53
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+f 4 30 17
+f 4 17 12
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+f 7 26 16
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+f 7 9 8
+f 7 14 15
+f 13 18 19
+f 13 19 20
+f 14 21 15
+f 15 21 22
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+f 15 24 25
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+f 18 31 32
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+f 19 32 20
+f 24 33 34
+f 24 34 35
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+f 26 36 27
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+f 27 36 38
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+f 27 39 28
+f 28 39 40
+f 29 30 33
+f 30 41 42
+f 30 42 43
+f 30 43 33
+f 31 44 32
+f 32 44 45
+f 33 43 46
+f 33 46 34
+f 34 46 47
+f 36 37 48
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+f 36 49 50
+f 36 50 51
+f 36 51 38
+f 38 51 52
+f 38 52 45
+f 38 45 44
+f 38 44 40
+f 38 40 39
+f 41 53 42
+f 42 54 55
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+f 43 55 46
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+f 46 57 47
+f 48 58 49
+f 49 58 50
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+f 50 59 60
+f 50 60 61
+f 50 61 62
+f 50 62 51
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+f 53 64 65
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+f 53 67 68
+f 53 68 56
+f 54 69 55
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+f 60 70 61
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+f 63 65 71
+f 64 71 65
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_75.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b854dd25ee6990de59c025d0127405a8f8f0a98e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_75.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.00254109 -0.04279347 -0.01676150
+v 0.00451775 -0.04389088 -0.01676150
+v 0.00445543 -0.04389088 -0.01637477
+v 0.00462460 -0.04389088 -0.01575783
+v 0.00254109 -0.04277801 -0.01670706
+v 0.00254109 -0.01231344 -0.01676139
+v 0.01089962 -0.04389088 -0.01676150
+v 0.01061692 -0.04389088 -0.01575783
+v 0.00254109 -0.03385658 -0.01575779
+v 0.00254109 -0.03967437 -0.01604452
+v 0.00254109 -0.01331501 -0.01648795
+v 0.01018731 -0.02017148 -0.01575774
+v 0.01190799 -0.01859801 -0.01676141
+v 0.02348305 -0.04171461 -0.01676149
+v 0.02348305 -0.03967437 -0.01588997
+v 0.02024203 -0.03967437 -0.01581038
+v 0.01331480 -0.02654570 -0.01575777
+v 0.00254109 -0.01850527 -0.01575774
+v 0.00728686 -0.01898133 -0.01575774
+v 0.00756289 -0.01903388 -0.01575774
+v 0.01039210 -0.02035077 -0.01575774
+v 0.02348305 -0.02766474 -0.01676144
+v 0.02528164 -0.03967437 -0.01676149
+v 0.02520596 -0.03741464 -0.01676148
+v 0.02493662 -0.03447483 -0.01676147
+v 0.02348305 -0.03639143 -0.01605993
+v 0.01210387 -0.02241265 -0.01575775
+v 0.01224856 -0.02270633 -0.01575775
+v 0.01252236 -0.02326276 -0.01575776
+v 0.01292971 -0.02476512 -0.01575776
+v 0.02348305 -0.02982555 -0.01657034
+v 0.02395051 -0.02917329 -0.01676145
+v 0.02451145 -0.03172359 -0.01676146
+v 0.02348305 -0.03310849 -0.01630271
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 9
+f 1 9 18
+f 1 18 11
+f 1 11 6
+f 1 6 13
+f 1 13 22
+f 1 22 32
+f 1 32 33
+f 1 33 25
+f 1 25 24
+f 1 24 23
+f 1 23 14
+f 1 14 7
+f 1 7 2
+f 2 7 8
+f 2 8 4
+f 2 4 3
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+f 4 17 30
+f 4 30 29
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+f 4 28 27
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+f 4 21 12
+f 4 12 20
+f 4 20 19
+f 4 19 18
+f 4 18 9
+f 4 9 10
+f 4 10 5
+f 6 11 12
+f 6 12 13
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 12 21 22
+f 12 22 13
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
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+f 16 29 30
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+f 21 27 22
+f 22 27 31
+f 22 31 32
+f 25 33 26
+f 26 33 34
+f 26 34 27
+f 27 34 31
+f 31 34 32
+f 32 34 33
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_76.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc7fc1df37d4bb78cedcdd373463d4292f6abe11
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_76.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.00559051 -0.01730255 -0.05478088
+v 0.00733089 -0.01788096 -0.05478089
+v 0.00559051 -0.01594546 -0.06937891
+v 0.00559051 -0.04589567 -0.05478099
+v 0.00733089 -0.01707686 -0.06937891
+v 0.00733089 -0.04508526 -0.05478099
+v 0.00733089 -0.01708003 -0.06941194
+v 0.00733089 -0.01766161 -0.07180025
+v 0.00559051 -0.01609800 -0.07000076
+v 0.00559051 -0.04841267 -0.06508629
+v 0.00609238 -0.04841267 -0.06551382
+v 0.00616257 -0.04841267 -0.06577811
+v 0.00635933 -0.04841267 -0.06652238
+v 0.00703753 -0.04841266 -0.06937903
+v 0.00733089 -0.04767534 -0.06937903
+v 0.00733089 -0.01768704 -0.07182357
+v 0.00559051 -0.01706413 -0.07205094
+v 0.00559051 -0.04841264 -0.07336084
+v 0.00663753 -0.04841264 -0.07263793
+v 0.00733089 -0.04608629 -0.07256408
+v 0.00733089 -0.01955573 -0.07345206
+v 0.00559051 -0.01795398 -0.07282438
+v 0.00559051 -0.04201517 -0.07447237
+v 0.00733089 -0.04178000 -0.07445294
+v 0.00733089 -0.04341988 -0.07379806
+v 0.00733089 -0.01958116 -0.07346955
+v 0.00733089 -0.02119880 -0.07446453
+v 0.00559051 -0.02025809 -0.07416137
+v 0.00559051 -0.04067403 -0.07455593
+v 0.00733089 -0.03967294 -0.07457342
+v 0.00733089 -0.02123058 -0.07447036
+v 0.00559051 -0.02111617 -0.07448396
+v 0.00559051 -0.03967294 -0.07461229
+v 0.00733089 -0.02330904 -0.07459474
+v 0.00733089 -0.02326454 -0.07459474
+v 0.00559051 -0.02326454 -0.07463360
+f 1 2 3
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+f 1 22 28
+f 1 28 32
+f 1 32 36
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+f 1 33 29
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+f 1 23 18
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+f 1 6 2
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+f 16 21 17
+f 17 21 22
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+f 19 25 20
+f 21 26 22
+f 22 26 27
+f 22 27 28
+f 23 29 24
+f 24 29 30
+f 27 31 32
+f 27 32 28
+f 29 33 30
+f 30 33 34
+f 31 35 36
+f 31 36 32
+f 33 36 34
+f 34 36 35
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_77.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6518e8e63511e0db15d2b989158a92d7d78083b5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_77.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.01768156 0.04242832 -0.04420750
+v 0.01768156 0.05176605 -0.04420747
+v 0.02073949 0.04242832 -0.04420750
+v 0.01768156 0.04242828 -0.03382244
+v 0.01826195 0.05176605 -0.04420747
+v 0.01768156 0.05176604 -0.04137481
+v 0.02054762 0.04363027 -0.04420750
+v 0.01979811 0.04836216 -0.03382242
+v 0.02020639 0.04566760 -0.03382243
+v 0.02029649 0.04242828 -0.03382244
+v 0.01768156 0.05003209 -0.03382242
+v 0.02020310 0.04566764 -0.04420749
+v 0.01790905 0.05176605 -0.04240579
+f 1 2 5
+f 1 5 12
+f 1 12 7
+f 1 7 3
+f 1 3 10
+f 1 10 4
+f 1 4 11
+f 1 11 6
+f 1 6 2
+f 2 6 13
+f 2 13 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 10 9
+f 4 9 8
+f 4 8 11
+f 5 13 8
+f 5 8 12
+f 6 11 8
+f 6 8 13
+f 7 12 8
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_78.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..029d19f9efb685b55342e1fe1cbdca0e448f4153
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_78.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.01110689 -0.00356956 0.02110546
+v -0.01110689 -0.00685405 0.02096688
+v -0.00581658 -0.01669614 0.01888685
+v -0.00596139 -0.01341544 0.01906083
+v -0.00619522 -0.01013474 0.01908856
+v -0.00891225 -0.00356955 0.02002158
+v -0.01110689 -0.00025851 0.02065283
+v -0.01110689 -0.01013475 0.02059275
+v -0.00629283 -0.01911211 0.01855275
+v -0.00419795 -0.01669614 0.01798618
+v -0.00644408 -0.00685404 0.01900081
+v -0.00673584 -0.00356955 0.01877913
+v -0.00702760 -0.00101326 0.01846968
+v -0.00863979 -0.00006887 0.01919483
+v -0.00737836 0.00117514 0.01804013
+v -0.01110689 0.00224848 0.01958436
+v -0.01110689 -0.01371507 0.01960585
+v -0.00784067 -0.01911211 0.01855275
+v -0.00014869 -0.03201488 0.00580328
+v -0.00014869 -0.03006544 0.00732442
+v -0.00539717 -0.02011337 0.01730875
+v -0.00361121 -0.01997684 0.01576145
+v -0.00014869 -0.02940171 0.00771547
+v -0.00014869 -0.02709953 0.00854841
+v -0.00333983 -0.01669613 0.01633574
+v -0.00434276 -0.01341543 0.01767828
+v -0.00457659 -0.01013473 0.01710401
+v -0.00643979 -0.00006886 0.01676072
+v -0.00549049 -0.00356954 0.01649590
+v -0.00953867 0.00215746 0.01872526
+v -0.01110689 0.00268464 0.01939807
+v -0.00685383 0.00230159 0.01583698
+v -0.00752424 0.00449000 0.01424196
+v -0.00853146 0.00332562 0.01674534
+v -0.01097603 0.00434587 0.01765371
+v -0.01110689 -0.01531558 0.01649585
+v -0.00759503 -0.02192629 0.01552743
+v -0.00092744 -0.03180628 0.00537681
+v -0.00014869 -0.03218176 0.00537681
+v -0.00014869 -0.02982649 0.00747530
+v -0.00014869 -0.02332198 0.00900106
+v -0.00351360 -0.01341543 0.01602629
+v -0.00379678 -0.01013473 0.01545357
+v -0.00475144 -0.00694506 0.01627880
+v -0.00537250 -0.00028883 0.01319347
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_79.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85627ae76243f4220940bffd1f3b37ede046687a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_79.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_8.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..004d7b11341debfdc9a57a06ac2822c55f8bde35
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_8.obj
@@ -0,0 +1,640 @@
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+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_80.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b19ec6eaa3d5da27ba23305b0dc577f8aa62a594
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_80.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01058848 0.09047253 -0.01676111
+v 0.01058848 0.09047253 -0.01682260
+v 0.01052452 0.09047253 -0.01676111
+v 0.01058848 0.05871216 -0.01676122
+v 0.01058848 0.09046017 -0.03641541
+v 0.00728501 0.09046320 -0.01676111
+v 0.01052452 0.09046017 -0.03634919
+v 0.00353673 0.05871216 -0.01676122
+v 0.01058848 0.05871225 -0.04092347
+v 0.01058848 0.09044153 -0.03971714
+v 0.01052452 0.09044153 -0.03965329
+v 0.00728501 0.09045699 -0.01983579
+v 0.00415767 0.09022069 -0.01676111
+v 0.00728501 0.09044146 -0.02313989
+v 0.00579613 0.05871220 -0.02749895
+v 0.00071642 0.06848745 -0.01676119
+v 0.00239719 0.06696709 -0.02493274
+v 0.01058848 0.09041976 -0.04092336
+v 0.00882801 0.05871225 -0.04092347
+v 0.01052452 0.09041976 -0.04092336
+v 0.00728501 0.09039795 -0.02644162
+v 0.00395988 0.09020203 -0.01676111
+v 0.00549008 0.06677437 -0.03888470
+v 0.00067313 0.06864602 -0.01676119
+v 0.00126356 0.06864603 -0.01983587
+v 0.00193961 0.06864604 -0.02313997
+v 0.00235488 0.06864605 -0.02513141
+v 0.00536609 0.06864610 -0.03947125
+v 0.00567115 0.06864611 -0.04092344
+v 0.00921277 0.09027052 -0.04092336
+v 0.00530803 0.09016165 -0.02644162
+v 0.00258023 0.08992842 -0.01676111
+v 0.00054225 0.07170236 -0.01676118
+v 0.00053733 0.07192932 -0.01676118
+v 0.00118188 0.07192933 -0.01983586
+v 0.00560620 0.07192941 -0.04092343
+v 0.00847768 0.09017725 -0.04092336
+v 0.00552157 0.09006838 -0.02974335
+v 0.00564163 0.08999378 -0.03154322
+v 0.00181660 0.08791679 -0.01983580
+v 0.00162963 0.08854483 -0.01676111
+v 0.00055504 0.08505321 -0.01676113
+v 0.00560719 0.07258235 -0.04092342
+v 0.00676641 0.08831795 -0.04092337
+v 0.00517125 0.08773963 -0.03634920
+v 0.00216496 0.08729496 -0.02313990
+v 0.00236866 0.08684725 -0.02507221
+v 0.00328088 0.08505326 -0.02974337
+v 0.00563080 0.08505330 -0.04092338
+v 0.00565836 0.08532380 -0.04092338
+v 0.00545171 0.08719863 -0.03902417
+f 1 2 3
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+f 1 6 13
+f 1 13 22
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+f 1 42 34
+f 1 34 33
+f 1 33 24
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+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_81.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a841659e589c083bf43d8505ca32a0baed21cc2b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_81.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.01059016 0.04242832 -0.04420852
+v 0.01059016 0.06289420 -0.04420845
+v 0.01768086 0.04242832 -0.04420852
+v 0.01059016 0.04242825 -0.02337322
+v 0.01768086 0.06289420 -0.04420845
+v 0.01059016 0.06289410 -0.01676121
+v 0.01768086 0.04242825 -0.02366339
+v 0.01059016 0.04791530 -0.01676126
+v 0.01768086 0.06289419 -0.04091456
+v 0.01269363 0.06289410 -0.01676121
+v 0.01768086 0.04895105 -0.02428399
+v 0.01196748 0.05223245 -0.01676125
+v 0.01139962 0.04921345 -0.01676126
+v 0.01139406 0.04919943 -0.01676126
+v 0.01643683 0.06289416 -0.03288404
+v 0.01768086 0.05449023 -0.02693305
+v 0.01279151 0.06289410 -0.01711048
+v 0.01768086 0.05138708 -0.02459564
+v 0.01768086 0.05302580 -0.02528343
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 6
+f 1 6 2
+f 2 6 10
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+f 2 17 15
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+f 7 14 8
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+f 10 11 18
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+f 10 19 17
+f 15 17 16
+f 16 17 19
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_82.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67581f8a7cc132253bb71b0dcb70331d2d84f197
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_82.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01763408 0.05176604 -0.04420849
+v 0.01763408 0.05176604 -0.04091647
+v 0.01763408 0.06289420 -0.04420849
+v 0.01763408 0.06289420 -0.04091647
+v 0.01863408 0.05176604 -0.04420849
+v 0.01863408 0.05176604 -0.04091647
+v 0.01863408 0.06289420 -0.04420849
+v 0.01863408 0.06289420 -0.04091647
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_83.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90e47f53418c9b1543faccac6ab0ed26cfa8495c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_83.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.01768156 0.04242825 -0.02366073
+v 0.01768156 0.04242828 -0.03382142
+v 0.02028718 0.04242825 -0.02368162
+v 0.01768156 0.04894951 -0.02428233
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+v 0.02567008 0.05205693 -0.02641670
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+v 0.02348311 0.05417144 -0.02717655
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+v 0.02662825 0.04242826 -0.02644259
+v 0.02646009 0.04566805 -0.02644258
+v 0.02573314 0.04242825 -0.02429926
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+f 28 39 31
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+f 29 31 30
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+f 31 33 32
+f 33 35 34
+f 37 38 39
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_84.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00a76da19a5752a12cc0900b232347e697b56aa7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_84.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.01234717 -0.05938363 0.04035564
+v -0.01234717 -0.05831492 0.04035565
+v -0.01225032 -0.05938363 0.04035564
+v -0.01234717 -0.05938378 0.08256778
+v -0.01234717 -0.05716459 0.04070528
+v -0.01070381 -0.05608666 0.04470904
+v -0.01070381 -0.05938210 0.04451290
+v -0.01070381 -0.05938364 0.04477299
+v -0.01070381 -0.05938378 0.08257205
+v -0.01234717 -0.05937763 0.08391516
+v -0.01234717 -0.05608665 0.04191195
+v -0.01070381 -0.05278352 0.04592426
+v -0.01070381 -0.05937609 0.08391516
+v -0.01234717 -0.04365189 0.08391522
+v -0.01234717 -0.05576943 0.04242789
+v -0.01070381 -0.04741229 0.05428143
+v -0.01070381 -0.04365189 0.08391522
+v -0.01234717 -0.04365182 0.06558918
+v -0.01234717 -0.05502565 0.04369852
+v -0.01234717 -0.05390305 0.04573664
+v -0.01225949 -0.04365182 0.06534188
+v -0.01070381 -0.04682403 0.05547957
+v -0.01070381 -0.04365181 0.06274945
+v -0.01104953 -0.04365181 0.06300102
+v -0.01070381 -0.04531492 0.05875421
+v -0.01070381 -0.04375961 0.06230175
+v -0.01070381 -0.04434015 0.06088615
+f 1 2 3
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+f 1 5 2
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+f 18 21 20
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+f 24 26 27
+f 24 27 25
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_85.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7cc5780f2fd317d6c28faf6a42e06ebcefd095c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_85.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.01058947 0.03586378 -0.02992803
+v 0.00473017 0.03586378 -0.02943845
+v 0.00473017 0.03984485 -0.04092354
+v 0.01058947 0.03985156 -0.04092354
+v 0.01058947 0.03586375 -0.02274984
+v 0.00473017 0.03586375 -0.02145610
+v 0.00473017 0.04820501 -0.04092351
+v 0.01058947 0.05871001 -0.04092347
+v 0.01058947 0.04791417 -0.01676126
+v 0.00986853 0.04676683 -0.01676127
+v 0.00975669 0.04664829 -0.01676127
+v 0.00702778 0.03586375 -0.02189839
+v 0.00960068 0.04664829 -0.01676127
+v 0.00719066 0.04672881 -0.01676127
+v 0.00661827 0.04714704 -0.01676127
+v 0.00548323 0.04839055 -0.01676126
+v 0.00521424 0.04899889 -0.01676126
+v 0.00473017 0.05053986 -0.01676125
+v 0.00882870 0.05871001 -0.04092347
+v 0.00473017 0.05514493 -0.02959684
+v 0.01058947 0.05870992 -0.01676122
+v 0.00473017 0.05870992 -0.01676122
+v 0.00473017 0.05713768 -0.02610116
+v 0.00579638 0.05870996 -0.02749895
+v 0.00473017 0.05870994 -0.02228618
+v 0.00473017 0.05807701 -0.02387083
+v 0.00543849 0.05870995 -0.02579132
+v 0.00490854 0.05870995 -0.02322514
+f 1 2 3
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+f 1 21 9
+f 1 9 5
+f 1 5 12
+f 1 12 6
+f 1 6 2
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+f 2 26 23
+f 2 23 20
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+f 5 11 12
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+f 19 20 23
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+f 25 28 26
+f 26 28 27
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_86.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d70fb15dc3281f97883b1f5bbd58b22eeb935789
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_86.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00734092 0.04879011 -0.04092494
+v 0.00734092 0.04815440 -0.04956156
+v 0.00559051 0.04840707 -0.05244998
+v 0.00559051 0.04854562 -0.04956156
+v 0.00559051 0.04833368 -0.04092494
+v 0.00734092 0.04074552 -0.04092497
+v 0.00734092 0.04773466 -0.05207585
+v 0.00559051 0.04658136 -0.05402250
+v 0.00559051 0.04069662 -0.04092497
+v 0.00559051 0.00715715 -0.04509934
+v 0.00580640 0.00715715 -0.04547920
+v 0.00639649 0.00715715 -0.04651990
+v 0.00731557 0.00715716 -0.04956171
+v 0.00734092 0.03583485 -0.04956161
+v 0.00734092 0.04561553 -0.05377451
+v 0.00559051 0.04495941 -0.05526387
+v 0.00559051 0.00715718 -0.05469636
+v 0.00712195 0.00715717 -0.05044615
+v 0.00734092 0.04238383 -0.05410278
+v 0.00734092 0.03876498 -0.05276108
+v 0.00734092 0.04295845 -0.05407411
+v 0.00559051 0.04238383 -0.05556778
+v 0.00659079 0.00715717 -0.05286440
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 6
+f 1 6 14
+f 1 14 20
+f 1 20 19
+f 1 19 21
+f 1 21 15
+f 1 15 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 16
+f 3 16 22
+f 3 22 17
+f 3 17 10
+f 3 10 9
+f 3 9 5
+f 3 5 4
+f 6 9 10
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 7 15 8
+f 8 15 16
+f 10 17 23
+f 10 23 18
+f 10 18 13
+f 10 13 12
+f 10 12 11
+f 13 18 19
+f 13 19 20
+f 13 20 14
+f 15 21 22
+f 15 22 16
+f 17 22 19
+f 17 19 23
+f 18 23 19
+f 19 22 21
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_87.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6093c5e397d23b582e7583a3aae275722e41fffa
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_87.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01263478 -0.05938363 0.02980968
+v -0.01263478 -0.05938363 0.04035565
+v -0.01263478 -0.05523200 0.02980968
+v -0.01263478 -0.05523200 0.04035565
+v -0.01163477 -0.05938363 0.02980968
+v -0.01163477 -0.05938363 0.04035565
+v -0.01163477 -0.05523200 0.02980968
+v -0.01163477 -0.05523200 0.04035565
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_88.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41e3f310ed9aa0db7fbb8ac4301a751b462352e3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_88.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.01243971 0.04657450 0.06589284
+v -0.01371917 0.04657449 0.06788283
+v -0.01690951 0.05537082 0.05404917
+v -0.01243971 0.05231697 0.05952488
+v -0.01243971 0.04657444 0.08062138
+v -0.01690951 0.04657446 0.07533555
+v -0.01690951 0.06174126 0.05404920
+v -0.01646362 0.05624674 0.05404918
+v -0.01243971 0.05548215 0.05705106
+v -0.01243971 0.05389215 0.05789648
+v -0.01243971 0.06174116 0.08062144
+v -0.01690951 0.04657444 0.08062138
+v -0.01560948 0.06174126 0.05404920
+v -0.01690951 0.06174116 0.08062144
+v -0.01577007 0.05879580 0.05404919
+v -0.01243971 0.05638628 0.05682996
+v -0.01243971 0.06174125 0.05649701
+v -0.01243971 0.05879579 0.05655424
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 9
+f 1 9 16
+f 1 16 18
+f 1 18 17
+f 1 17 11
+f 1 11 5
+f 1 5 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 7 13
+f 3 13 15
+f 3 15 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 3 6 12
+f 3 12 14
+f 3 14 7
+f 5 11 14
+f 5 14 12
+f 7 14 11
+f 7 11 17
+f 7 17 13
+f 8 15 16
+f 8 16 9
+f 13 17 18
+f 13 18 15
+f 15 18 16
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_89.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fa1a5ef1c809f7271cf890e8d9d73d4e86e1cfe
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_89.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.02616943 0.04657454 0.05404914
+v -0.01955348 0.04657454 0.05404914
+v -0.02672257 0.04657453 0.05783142
+v -0.02616702 0.04688037 0.05404914
+v -0.01690951 0.05537082 0.05404917
+v -0.01827849 0.04657451 0.06274007
+v -0.02694189 0.04894989 0.05958471
+v -0.02670811 0.04894990 0.05793288
+v -0.02644781 0.04894990 0.05613278
+v -0.02614533 0.04894991 0.05404915
+v -0.02880858 0.04657447 0.07264581
+v -0.02878689 0.04894984 0.07264582
+v -0.01690951 0.06174126 0.05404920
+v -0.01690951 0.04657446 0.07533555
+v -0.02874712 0.05223230 0.07264583
+v -0.02691538 0.05223235 0.05979022
+v -0.02638996 0.05223236 0.05613279
+v -0.02608869 0.05223237 0.05404916
+v -0.02892306 0.04657447 0.07355886
+v -0.02919903 0.04894983 0.07594946
+v -0.02580308 0.06174126 0.05404920
+v -0.01690951 0.06174116 0.08062144
+v -0.01690951 0.04657444 0.08062138
+v -0.02915806 0.05223229 0.07594947
+v -0.02910021 0.05551326 0.07594948
+v -0.02868686 0.05551327 0.07264584
+v -0.02687682 0.05551332 0.06007897
+v -0.02605495 0.05344529 0.05404917
+v -0.02922072 0.04657446 0.07594945
+v -0.02800237 0.05551325 0.07874328
+v -0.02796863 0.05879571 0.07874330
+v -0.02793489 0.06174117 0.07874331
+v -0.02599710 0.05551334 0.05404917
+v -0.02611159 0.06174125 0.05613283
+v -0.02613328 0.06174116 0.08062144
+v -0.02294581 0.04657444 0.08062138
+v -0.02804335 0.06174117 0.07845717
+v -0.02902308 0.05879572 0.07594950
+v -0.02894717 0.06174118 0.07594951
+v -0.02859889 0.05879573 0.07264586
+v -0.02708289 0.06174123 0.06274013
+v -0.02678644 0.06174124 0.06070331
+v -0.02890258 0.04657446 0.07671684
+v -0.02803009 0.05223228 0.07873546
+v -0.02650324 0.06174124 0.05878096
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+v -0.02806263 0.04657445 0.07873024
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+v -0.02462812 0.04907897 0.08062139
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+v -0.02851213 0.06174119 0.07264587
+v -0.02846392 0.06174119 0.07230510
+v -0.02751070 0.06174122 0.06570300
+v -0.02805299 0.04894982 0.07872765
+v -0.02608507 0.05551324 0.08062141
+v -0.02724317 0.04657445 0.07913604
+v -0.02580549 0.05258857 0.08062140
+v -0.02489444 0.04954365 0.08062139
+f 1 2 6
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+f 1 19 11
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+f 1 33 21
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+f 44 54 47
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+f 49 58 56
+f 56 58 57
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_9.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a042131ac9b89634b2038107fe5e08a7fe52d4a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_9.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.00846650 0.03368870 0.00537489
+v -0.00356350 0.03114049 0.00537488
+v -0.00846650 0.03419259 -0.00432039
+v -0.00846650 0.01383099 0.00537482
+v -0.00194347 0.02987241 0.00537488
+v -0.00197547 0.02987484 0.00328369
+v -0.00201917 0.02987243 -0.00001886
+v -0.00372035 0.03105374 -0.00662396
+v -0.00846650 0.03422152 -0.00662394
+v -0.00846650 0.00959285 -0.00328464
+v -0.00685974 0.01401904 0.00537482
+v -0.00140268 0.02926972 0.00537488
+v -0.00049435 0.02823068 -0.00001887
+v -0.00205507 0.02979771 -0.00332141
+v -0.00210033 0.02971334 -0.00662396
+v -0.00384989 0.03099348 -0.00840526
+v -0.00846650 0.03415162 -0.00759477
+v -0.00846650 0.00959290 -0.01676140
+v -0.00553469 0.00959287 -0.00840750
+v -0.00401455 0.01445298 0.00537482
+v -0.00050995 0.02823066 0.00537487
+v -0.00050059 0.02823549 0.00328368
+v -0.00054429 0.02815596 -0.00332142
+v -0.00049435 0.02612847 -0.00001887
+v -0.00059813 0.02807159 -0.00662397
+v -0.00067071 0.02791008 -0.00847462
+v -0.00846650 0.03274132 -0.01011504
+v -0.00344957 0.01886481 -0.01676137
+v -0.00366807 0.00959290 -0.01676140
+v -0.00846650 0.02273896 -0.01676136
+v -0.00474731 0.00959288 -0.00997860
+v -0.00371801 0.01506050 0.00537483
+v -0.00346596 0.00959289 -0.01288892
+v -0.00343552 0.00959289 -0.01307745
+v -0.00050995 0.02631890 0.00537487
+v -0.00050059 0.02624177 0.00328368
+v -0.00079478 0.02427941 -0.00432477
+v -0.00079478 0.02427941 -0.00512007
+v -0.00058721 0.02568007 -0.00326292
+v -0.00062935 0.02594527 -0.00638127
+v -0.00067071 0.02702291 -0.00847462
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+v -0.00846650 0.02280887 -0.01675485
+v -0.00345035 0.01569944 -0.01676138
+v -0.00350653 0.00959290 -0.01646885
+v -0.00843919 0.02273655 -0.01676136
+v -0.00322326 0.01612607 0.00537483
+v -0.00343318 0.00959289 -0.01315546
+v -0.00064808 0.02571621 0.00537486
+v -0.00089779 0.02467715 0.00537486
+v -0.00216744 0.01940957 0.00537484
+v -0.00282684 0.01732906 0.00537483
+f 1 2 3
+f 1 3 9
+f 1 9 17
+f 1 17 27
+f 1 27 43
+f 1 43 30
+f 1 30 18
+f 1 18 10
+f 1 10 4
+f 1 4 11
+f 1 11 20
+f 1 20 32
+f 1 32 47
+f 1 47 52
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+f 1 49 35
+f 1 35 21
+f 1 21 12
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+f 29 44 45
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+f 35 48 36
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+f 38 40 39
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+f 40 45 41
+f 41 45 44
+f 42 46 43
+
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_90.obj b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb2db227f1f255a746f62292d88b0ef40efb4994
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/mesh/photo_frame_035_collision_90.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.01058947 -0.01728474 -0.02502077
+v 0.01058947 -0.01728473 -0.02753480
+v 0.00052783 -0.01728474 -0.02502077
+v 0.01058947 -0.04681053 -0.02502088
+v 0.00396937 -0.01728468 -0.04092220
+v 0.01058947 -0.01814016 -0.04092221
+v 0.00052783 -0.01728468 -0.04092220
+v 0.00052783 -0.02103326 -0.02502079
+v 0.00638653 -0.04681053 -0.02502088
+v 0.01058947 -0.04681047 -0.04092231
+v 0.00052783 -0.04641741 -0.04092231
+v 0.00052783 -0.03967185 -0.02589727
+v 0.00052783 -0.03995508 -0.02594397
+v 0.00052783 -0.04295506 -0.02648726
+v 0.00052783 -0.04313714 -0.02657910
+v 0.00052783 -0.04492614 -0.02758939
+v 0.00052783 -0.04500996 -0.02777619
+v 0.00052783 -0.04531919 -0.02999601
+v 0.00639441 -0.04681052 -0.02644835
+v 0.00859881 -0.04681047 -0.04092231
+v 0.00855843 -0.04681047 -0.04080245
+v 0.00804328 -0.04681048 -0.03872273
+v 0.00756359 -0.04681049 -0.03641418
+v 0.00693714 -0.04681050 -0.03304709
+v 0.00651556 -0.04681051 -0.02974539
+f 1 2 5
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+f 1 7 3
+f 1 3 8
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+f 1 9 4
+f 1 4 10
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/photo_frame_035.xml b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/photo_frame_035.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9eaa4ce9c2d89904c90a700094fca88fa0c7bf0a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/mjcf/photo_frame_035.xml
@@ -0,0 +1,196 @@
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/photo_frame_035.urdf b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/photo_frame_035.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5029e79481e357ba3e0a119f3df56c7cbabf1a4c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/photo_frame_035.urdf
@@ -0,0 +1,66 @@
+
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+ 0.70
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+ 1.000000
+ 706f1c89f47458e4bd34e9b2f1e339fb
+ livingroom_supplies
+ ornaments
+ photo_frame
+ wooden photo frame
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+ flat
+ wood
+ brown tabletop photo frame with rear stand and white mat
+ 0.2000
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+ 0.9
+ v0.1.0
+ 20260609203242
+ ""
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+ -0.052376 -0.087309 -0.088352
+ 0.037369 0.090061 0.111648
+
+ ./caption_candidates.json
+
+
+
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+ 17
+
+
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+
+
+ affordance/affordance_annot.json
+
+
+ YES
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/photo_frame_035.usd b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/photo_frame_035.usd
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/photo_frame_035.usd
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/textures/material_0.png b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/textures/material_0.png
new file mode 100644
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diff --git a/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/video.mp4 b/dataset/livingroom_supplies/ornaments/706f1c89f47458e4bd34e9b2f1e339fb/video.mp4
new file mode 100644
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