diff --git a/.gitattributes b/.gitattributes
index 86b1f496b2442e0ff67d4d5df78d012232085590..6c0d7f1937610794d6fc637ad77fd144ec2894f2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4960,3 +4960,5 @@ dataset/livingroom_supplies/ornaments/789230d9487f5811aaae106b9135aa70/mesh/wate
 dataset/livingroom_supplies/ornaments/789230d9487f5811aaae106b9135aa70/mesh/watering_can_014.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/789230d9487f5811aaae106b9135aa70/mjcf/mesh/watering_can_014.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/789230d9487f5811aaae106b9135aa70/watering_can_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/houseplant_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mesh/houseplant_015.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/houseplant_015.urdf b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/houseplant_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..205b27cf06c5bba0fdaaba6802c3505d3f874f55
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/houseplant_015.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="houseplant_015">
+   <link name="houseplant_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/houseplant_015.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/houseplant_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.55</mu1>
+            <mu2>0.42</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="4.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>7b18af52198250ada1ad82ac8d45c07c</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>houseplant</category>
+         <name>bamboo plant</name>
+         <color>green,brown</color>
+         <shape>irregular</shape>
+         <material>organic</material>
+         <description>potted lucky bamboo cluster with green stalks and narrow leaves</description>
+         <min_height>0.2500</min_height>
+         <max_height>0.2500</max_height>
+         <real_height>0.2500</real_height>
+         <min_mass>2.5</min_mass>
+         <max_mass>5.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518195809</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.064644 -0.068677 -0.067311</min>
+            <max>0.068793 0.063159 0.182689</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/houseplant_015.usd b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/houseplant_015.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ef6ff10e663be77d59892e176e57066806d711e2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/houseplant_015.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:290d8fe872737dcc7775a2f2f485d29534362baf813b5e948fac14631595a232
+size 3574589
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mesh/houseplant_015.glb b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mesh/houseplant_015.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ce01aab7eb3da72b9d1129217c953bc08a644789
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mesh/houseplant_015.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b1f6b710266883552327bb762763c34cc3c08b15e452ede1f5656dd2d29e7c1
+size 14214168
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mesh/houseplant_015.mtl b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mesh/houseplant_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98f74675d24a4970719736e8ed3218fbe2839664
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mesh/houseplant_015.mtl
@@ -0,0 +1,6 @@
+newmtl houseplant_015_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mesh/houseplant_015.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mesh/houseplant_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4187fc49ec79661915374cadc4a75cde226aa175
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mesh/houseplant_015.obj
@@ -0,0 +1,88660 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl houseplant_015_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mesh/houseplant_015_collision.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mesh/houseplant_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9838d11a5be8071784376eaea30caad8ea89530
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mesh/houseplant_015_collision.obj
@@ -0,0 +1,13068 @@
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diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mesh/houseplant_015_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mesh/houseplant_015_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d00b8a12858650f6f1e086ff6e7cd52dfa00a93c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mesh/houseplant_015_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d86998a90def852055fedc6da497fbaa66191873b5bd1349c817c5f123632cd3
+size 11679525
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7e58ac1f71b25f879e2bbb3c8bba740daa22ebf3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl houseplant_015_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:d86998a90def852055fedc6da497fbaa66191873b5bd1349c817c5f123632cd3
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diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/houseplant_015.xml b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/houseplant_015.xml
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index 0000000000000000000000000000000000000000..b6c47aa332ddbf296ebf705a1fa24c0869d74709
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/houseplant_015.xml
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+    <mesh name="collision_mesh_0_85" file="mesh/houseplant_015_collision_85.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_86" file="mesh/houseplant_015_collision_86.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_87" file="mesh/houseplant_015_collision_87.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_88" file="mesh/houseplant_015_collision_88.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_89" file="mesh/houseplant_015_collision_89.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_90" file="mesh/houseplant_015_collision_90.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_91" file="mesh/houseplant_015_collision_91.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_92" file="mesh/houseplant_015_collision_92.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_93" file="mesh/houseplant_015_collision_93.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="houseplant_015">
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+      <geom type="mesh" mesh="collision_mesh_0_93" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e1b8a2ccc5bb1be5fe9c3be8ad4cf898845424f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015.obj
@@ -0,0 +1,88660 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl houseplant_015_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d43c60cdcb8894a3b73d0301fba87fd2b732012d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision.obj
@@ -0,0 +1,13068 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_0.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e183a4ff1ae23373f0d686aa26aff3d5a5a846ec
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_0.obj
@@ -0,0 +1,1105 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_1.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47dfc2f5efbc3a5ebcf8b2be41f2c143d4e9f4cf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_1.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_10.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b91735205b810c05e4918b7d1b5271ee40e295ff
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_10.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+v 0.03858178 0.02703600 0.12444785
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_11.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a37f08bdee9531bc8c6a0f30dd289731edb66462
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_11.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+v 0.00211015 -0.01097613 0.06960174
+v -0.00012971 -0.01012467 0.07917973
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_12.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f01b4957efcdd3c1c0d0c016c9f784884bb16538
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_12.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.02462497 0.01574715 0.15530013
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+v 0.02542792 0.01174629 0.15530011
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_13.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab3a2f959054d7968329ed3a82d6b2c3bb34b8dd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_13.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00459482 0.02063885 0.15529869
+v 0.00459482 0.02095165 0.15529869
+v 0.00564984 0.01755558 0.15529867
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_14.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23a941716a72ca0382cc92e852d016307a5bcea7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_14.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.00617762 -0.01941521 0.02206312
+v -0.00617762 -0.01922803 0.03249991
+v -0.00641018 -0.01937294 0.02206312
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diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_15.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70c1ce26fe40f623aba6ea7a7a0d83ef5298c8db
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_15.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_16.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e20c567a4fd7834e50550f73cf6f3e7829d709d9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_16.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_17.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cdcb2fd8dbd15d717b60f923be65cfae5604fc1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_17.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_18.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ae32df4012570c7ab4d877c6ae412bf606effb6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_18.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.01860936 -0.00729883 0.03408816
+v -0.01883562 -0.00707284 0.03408816
+v -0.00714510 -0.00729883 0.03408816
+v -0.01949096 -0.00729886 0.04270393
+v -0.01970382 0.00310586 0.03823719
+v -0.01929319 0.00393943 0.03408820
+v -0.01979265 -0.00480003 0.04270394
+v -0.00955360 0.00798127 0.03408822
+v -0.00411646 -0.00729886 0.04285400
+v -0.01956471 -0.00729886 0.04373235
+v -0.02009099 -0.00480004 0.04683086
+v -0.01968371 0.00793125 0.03826810
+v -0.01929319 0.00706621 0.03408822
+v -0.02004239 0.00345964 0.04270397
+v -0.00956701 0.00800721 0.03408822
+v -0.01024581 0.00980955 0.03526671
+v -0.00983686 0.01020780 0.03857708
+v -0.00858149 0.00759041 0.03857707
+v -0.00314938 -0.00729887 0.04676906
+v -0.01971053 -0.00729887 0.04683085
+v -0.02009770 -0.00534105 0.07917975
+v -0.02013122 -0.00480016 0.07917975
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+v -0.01832107 0.00913159 0.03408822
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+v -0.01209619 0.01040045 0.03408823
+v -0.01248671 0.01139516 0.03857708
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+v -0.01248671 0.01162106 0.06333861
+v -0.00982680 0.01022445 0.04270400
+v -0.00976981 0.01030218 0.06333861
+v -0.00841388 0.00759032 0.06333860
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+v -0.01979433 -0.00729899 0.07917974
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+v -0.01700872 0.01083019 0.03826811
+v -0.01624276 0.01045973 0.03408823
+v -0.01916916 0.01011324 0.06333861
+v -0.01664669 0.01143212 0.06333861
+v -0.01848700 0.00934260 0.07917980
+v -0.01594442 0.01045973 0.03408823
+v -0.01640701 0.01049291 0.07917981
+v -0.01581536 0.01049291 0.07917981
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+v -0.01055756 0.00955932 0.07917981
+v -0.01051901 0.00954080 0.07914891
+v -0.01050058 0.00950005 0.07917980
+v -0.00976311 0.00781625 0.07917980
+v -0.00618137 -0.00729899 0.07917974
+f 1 2 6
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+f 1 13 26
+f 1 26 40
+f 1 40 44
+f 1 44 28
+f 1 28 27
+f 1 27 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 19
+f 1 19 36
+f 1 36 52
+f 1 52 37
+f 1 37 20
+f 1 20 10
+f 1 10 4
+f 1 4 2
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+f 29 40 39
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+f 33 48 49
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+f 33 50 34
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+f 41 43 45
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+f 48 50 49
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_19.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..149cffc9c6aadbf8d285d834822584a67d789abb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_19.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.01050786 -0.01719193 0.12688751
+v 0.00395553 -0.01719193 0.12688751
+v 0.00719248 -0.02025911 0.12688750
+v 0.01133849 -0.02472305 0.12388704
+v 0.01513038 -0.02870815 0.11975422
+v 0.01503531 -0.02545562 0.11975424
+v 0.01142999 -0.01719192 0.12518989
+v 0.00395553 -0.01719190 0.11951022
+v 0.00395553 -0.02114175 0.12688749
+v 0.00411595 -0.02171988 0.12688749
+v 0.00960118 -0.02747688 0.12316203
+v 0.01412863 -0.03146199 0.11892335
+v 0.01552727 -0.03276608 0.11617234
+v 0.01573641 -0.02988426 0.11732982
+v 0.01518979 -0.02565200 0.11735316
+v 0.01461703 -0.02330639 0.11929126
+v 0.01108538 -0.01719191 0.12253041
+v 0.01461703 -0.02330639 0.11896106
+v 0.00395553 -0.01869238 0.11811945
+v 0.01106161 -0.01719191 0.12235992
+v 0.01204078 -0.03129204 0.10855638
+v 0.00395553 -0.02176401 0.12688032
+v 0.00682767 -0.02754308 0.12321049
+v 0.00825245 -0.02918479 0.12174794
+v 0.01135512 -0.03186580 0.11931994
+v 0.01263255 -0.03302867 0.11732981
+v 0.01551301 -0.03609362 0.11170755
+v 0.01609528 -0.03397308 0.11299962
+v 0.01576850 -0.02983571 0.11308217
+v 0.01496876 -0.02715910 0.11459497
+v 0.00831068 -0.03050208 0.10855638
+v 0.00434173 -0.02995926 0.10855638
+v 0.00416230 -0.02996367 0.10855638
+v 0.00395553 -0.03002104 0.10855638
+v 0.01518385 -0.03137811 0.11052317
+v 0.01567700 -0.03414738 0.10855636
+v 0.00395553 -0.02566527 0.12432669
+v 0.00604577 -0.02754308 0.12321049
+v 0.00831068 -0.03189669 0.11934327
+v 0.00395553 -0.03973450 0.10855634
+v 0.01246975 -0.03527718 0.11384662
+v 0.01530149 -0.03624145 0.10855636
+v 0.01551420 -0.03613994 0.10855636
+v 0.00418131 -0.03966609 0.10855634
+v 0.00395553 -0.02643316 0.12372552
+v 0.00395553 -0.02882732 0.12176588
+v 0.00429658 -0.02956431 0.12112165
+v 0.00531971 -0.03176209 0.11918176
+v 0.00402089 -0.03299998 0.11737108
+v 0.00395553 -0.03293820 0.11744107
+v 0.00395553 -0.02954445 0.12109653
+v 0.00395553 -0.02995709 0.12070711
+f 1 2 9
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+f 1 3 4
+f 1 4 5
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+f 1 7 17
+f 1 17 20
+f 1 20 8
+f 1 8 2
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_2.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbdf480417803cbbaf08537c202f486d874a1c15
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_2.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.00222872 -0.01954062 0.07036801
+v 0.00222872 -0.01953661 0.06887656
+v 0.00226728 -0.01951659 0.06889939
+v 0.01530631 -0.01160214 0.00144202
+v 0.00226728 -0.01951660 0.07034518
+v 0.01441446 -0.01098593 0.07917973
+v 0.00222872 -0.01773123 0.07917970
+v 0.00222872 -0.01882797 0.04531784
+v 0.00222872 -0.01725057 0.00144200
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+v 0.01503138 -0.01137014 0.05508074
+v 0.01581426 -0.00915649 0.07917974
+v 0.00222872 -0.01231097 0.07917972
+v 0.00222872 -0.00098179 0.00144206
+v 0.01868593 -0.00480079 0.00144204
+v 0.01666922 -0.00892822 0.05508075
+v 0.01690224 -0.00480107 0.07917975
+v 0.01898768 0.00066728 0.06256083
+v 0.00600397 0.01843318 0.07917984
+v 0.00440133 0.02135551 0.07159327
+v 0.00403756 0.02135552 0.06883867
+v 0.00232428 0.01172019 0.00144210
+v 0.00226057 0.01023102 0.00144210
+v 0.01906647 -0.00245495 0.00144205
+v 0.01702126 -0.00412854 0.07917975
+v 0.01898768 0.00271689 0.06256084
+v 0.01765159 0.00345742 0.07917978
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+v 0.01741689 -0.00066983 0.07917977
+v 0.01935481 -0.00066955 0.00144206
+v 0.00831070 0.02036670 0.07917984
+v 0.00553123 0.02135549 0.07542841
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+v 0.00475673 0.01648393 0.00144212
+v 0.00423537 0.01613165 0.00144212
+v 0.01758286 0.01585119 0.06746134
+v 0.01931290 0.00345770 0.00144207
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+v 0.01242961 0.02114331 0.07917985
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+v 0.00529150 0.02135554 0.06368710
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+v 0.00831070 0.02135554 0.06138906
+v 0.01505820 0.01836537 0.01381502
+v 0.01487715 0.01820926 0.01064951
+v 0.01192166 0.01844547 0.00144213
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+v 0.01281350 0.02135554 0.06317727
+v 0.01414121 0.02135552 0.06705806
+v 0.01399369 0.01760081 0.00144212
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+f 1 15 9
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+f 1 8 2
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+f 50 51 58
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+f 51 63 58
+f 52 57 62
+f 58 63 59
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_20.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f61d52b2e618fe0526df752b80aecddd6322d48
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_20.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.00617544 -0.01819693 0.00144217
+v -0.00495204 -0.01909758 0.00144217
+v -0.00617544 -0.01801679 0.00332640
+v -0.00617544 0.00254181 0.00144225
+v -0.00416798 -0.01936564 0.00144217
+v -0.00416798 -0.01896463 0.00332640
+v -0.00559788 -0.01829771 0.00332640
+v -0.00617544 -0.00731611 0.00332644
+v 0.00222790 -0.00098363 0.00144224
+v -0.00450612 -0.00734828 0.00332644
+v -0.00416798 -0.00738688 0.00332644
+v 0.00222790 -0.00816316 0.00332644
+v -0.00000910 -0.01900537 0.00144217
+v -0.00005435 -0.01819693 0.00332640
+v 0.00222790 -0.01725123 0.00144218
+v 0.00222790 -0.01652427 0.00332641
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 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 16
+f 3 16 12
+f 3 12 11
+f 3 11 10
+f 3 10 8
+f 4 8 10
+f 4 10 11
+f 4 11 12
+f 4 12 9
+f 5 13 6
+f 6 13 14
+f 9 12 16
+f 9 16 15
+f 13 15 16
+f 13 16 14
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_21.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7954de39a0e802fb1a1bb8a311f735a82393bdf6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_21.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.02737291 -0.04450060 0.08970116
+v 0.02737291 -0.04353553 0.08970116
+v 0.02737291 -0.04450060 0.09088422
+v 0.02507816 -0.04476145 0.09223524
+v 0.02505295 -0.04476145 0.09222047
+v 0.02494749 -0.04451654 0.08970301
+v 0.02737291 -0.04353553 0.09088422
+v 0.02494749 -0.04343264 0.08970301
+v 0.02353305 -0.03932311 0.09354567
+v 0.01567683 -0.03414857 0.10855451
+v 0.01551636 -0.03614248 0.10855451
+v 0.02373937 -0.04461365 0.09513845
+v 0.02503002 -0.04476145 0.09230353
+v 0.00395782 -0.04476148 0.09989469
+v 0.02269402 -0.04421659 0.09001492
+v 0.02353305 -0.03932312 0.09558696
+v 0.02269402 -0.04373550 0.09001492
+v 0.00596372 -0.03152429 0.10247310
+v 0.00831119 -0.03125912 0.10218888
+v 0.01925763 -0.03538748 0.09788481
+v 0.01147477 -0.03125622 0.10214643
+v 0.01204329 -0.03129391 0.10855453
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_22.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ae049e7e449a766bde9eaa808aa8f20ad185e8f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_22.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+v -0.02522168 -0.04165380 0.17206142
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+v -0.00966070 -0.02925955 0.17913107
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+v -0.01037642 -0.02741914 0.18100057
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_23.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e591550ac037d326767ded20317b750b7626981
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_23.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.03999934 -0.03784770 0.13415953
+v -0.03999934 -0.03784771 0.13608924
+v -0.03986576 -0.03541639 0.13494672
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+v -0.03981595 -0.04008550 0.13431763
+v -0.03986576 -0.03541639 0.13604165
+v -0.03981595 -0.04008551 0.13579340
+v -0.03555508 -0.06112998 0.13998600
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+v -0.03744327 -0.03478655 0.13472740
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+v -0.02739559 -0.02741872 0.13960698
+v -0.02496857 -0.02665520 0.13922273
+v -0.02229931 -0.02647223 0.13915983
+v -0.02487122 -0.04179199 0.13460156
+v -0.02496857 -0.04507129 0.13449953
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_24.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..508f2fab10ac815469efbc4584989bcc2424b9a4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_24.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.02739881 -0.01719193 0.12688931
+v 0.02739881 -0.02113890 0.12688929
+v 0.02739881 -0.01719190 0.11957663
+v 0.02267978 -0.01719193 0.12688931
+v 0.02560781 -0.02036830 0.12688930
+v 0.02739881 -0.02187465 0.12525510
+v 0.02739881 -0.01719878 0.11957806
+v 0.02484895 -0.01719191 0.12143558
+v 0.02224766 -0.01719192 0.12525512
+v 0.02339931 -0.01873862 0.12525511
+v 0.02383798 -0.01865199 0.12688930
+v 0.02547873 -0.02047877 0.12525510
+v 0.02739881 -0.02062362 0.12135396
+v 0.02739881 -0.02010744 0.12098747
+v 0.02479702 -0.01719191 0.12147853
+v 0.02281844 -0.01719191 0.12380704
+v 0.02625322 -0.01988557 0.12196455
+f 1 2 6
+f 1 6 13
+f 1 13 14
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+f 1 7 3
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+f 13 15 14
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_25.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca34d2c5ad2d9c66a84ad7b33e4209fde6dc1d48
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_25.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.03623417 0.01749717 0.10628644
+v 0.03326743 0.01754476 0.10635361
+v 0.03623417 0.01878788 0.10628645
+v 0.03623417 0.01749716 0.10780032
+v 0.02739968 0.01609538 0.11112901
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+v 0.03104280 0.01784111 0.10663941
+v 0.03326743 0.01872506 0.10635362
+v 0.03623417 0.01878787 0.10780033
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+v 0.03238346 0.01715004 0.11136146
+v 0.02910880 0.01644376 0.11196596
+v 0.02739968 0.01609538 0.11208844
+v 0.02739968 0.01818694 0.10860699
+v 0.03104280 0.01812476 0.10663941
+v 0.02739968 0.01982476 0.10829618
+v 0.02739968 0.02109453 0.10884800
+v 0.03131785 0.02210412 0.11087419
+v 0.03218106 0.01998276 0.11127257
+v 0.02739968 0.02257751 0.11160315
+v 0.02910880 0.02243727 0.11132724
+v 0.02910880 0.01998276 0.11248420
+v 0.02739968 0.01998275 0.11301298
+v 0.02739968 0.02142831 0.11233210
+f 1 2 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 15
+f 1 15 5
+f 1 5 6
+f 1 6 2
+f 2 7 17
+f 2 17 8
+f 2 6 7
+f 3 8 10
+f 3 10 11
+f 3 11 12
+f 3 12 20
+f 3 20 9
+f 4 9 13
+f 4 13 14
+f 4 14 15
+f 5 15 25
+f 5 25 26
+f 5 26 22
+f 5 22 10
+f 5 10 19
+f 5 19 18
+f 5 18 16
+f 5 16 6
+f 6 16 7
+f 7 16 18
+f 7 18 17
+f 8 17 19
+f 8 19 10
+f 9 20 21
+f 9 21 13
+f 10 22 23
+f 10 23 11
+f 11 23 20
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+f 13 25 14
+f 13 21 24
+f 14 25 15
+f 17 18 19
+f 20 23 26
+f 20 26 25
+f 20 25 24
+f 20 24 21
+f 22 26 23
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_26.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..743a881fcef8d133a9f6ee9bdb6c381aa827b8b9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_26.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.05687261 -0.00226744 0.08968109
+v -0.05676103 -0.00480014 0.08975658
+v -0.05677060 -0.00480341 0.09195380
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+v -0.05472720 0.00386383 0.09239143
+v -0.05455505 0.00386383 0.09186755
+v -0.05549547 -0.00226744 0.08968109
+v -0.05559110 -0.00480014 0.08975658
+v -0.05625417 -0.00689823 0.09010942
+v -0.05625417 -0.00689823 0.09039139
+v -0.05574093 -0.00618330 0.09314333
+v -0.05637849 -0.00342896 0.09455936
+v -0.05637849 -0.00237394 0.09455936
+v -0.05011122 0.00386378 0.10542070
+v -0.05415976 0.00386383 0.09186755
+v -0.02430891 -0.00250870 0.10209249
+v -0.02430891 -0.00479257 0.10177506
+v -0.02506762 -0.00723618 0.10146843
+v -0.05606609 -0.00689823 0.09010942
+v -0.05136403 -0.00723615 0.09344840
+v -0.05451680 -0.00707860 0.09202005
+v -0.05315878 -0.00723616 0.09491990
+v -0.05297708 -0.00723616 0.09533746
+v -0.05404181 -0.00490338 0.09631898
+v -0.05293564 -0.00723616 0.09539755
+v -0.05169876 -0.00637672 0.09807861
+v -0.05010166 0.00325316 0.10542070
+v -0.02974735 0.00386378 0.10542070
+v -0.03270247 0.00386379 0.10297848
+v -0.02430891 0.00385184 0.10479204
+v -0.02430891 0.00379860 0.10474582
+v -0.02430891 -0.00056272 0.10274427
+v -0.02430891 -0.00723619 0.10284747
+v -0.03515073 -0.00723617 0.09829894
+v -0.04898591 -0.00723617 0.09918492
+v -0.04405115 -0.00705148 0.10275040
+v -0.04143394 -0.00462961 0.10542067
+v -0.02430891 0.00375730 0.10542070
+v -0.02985892 0.00386378 0.10522964
+v -0.03240600 0.00386379 0.10320653
+v -0.02430891 -0.00723620 0.10542066
+v -0.04337214 -0.00723619 0.10288599
+v -0.03752566 -0.00723620 0.10535594
+v -0.03734395 -0.00723620 0.10542066
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 16
+f 1 16 8
+f 1 8 9
+f 1 9 2
+f 2 9 20
+f 2 20 10
+f 2 10 3
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 4 14 5
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+f 5 15 29
+f 5 29 40
+f 5 40 41
+f 5 41 30
+f 5 30 16
+f 5 16 7
+f 5 7 6
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 11 23 24
+f 11 24 12
+f 12 25 13
+f 12 24 26
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+f 12 27 25
+f 13 25 28
+f 13 28 15
+f 13 15 14
+f 15 28 38
+f 15 38 45
+f 15 45 42
+f 15 42 39
+f 15 39 29
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 17
+f 17 33 32
+f 17 32 31
+f 17 31 39
+f 17 39 42
+f 17 42 34
+f 17 34 18
+f 18 34 19
+f 19 34 42
+f 19 42 45
+f 19 45 44
+f 19 44 43
+f 19 43 36
+f 19 36 26
+f 19 26 24
+f 19 24 23
+f 19 23 21
+f 19 21 35
+f 19 35 20
+f 20 35 21
+f 21 23 22
+f 25 27 28
+f 26 36 27
+f 27 36 37
+f 27 37 28
+f 28 37 38
+f 29 39 31
+f 29 31 40
+f 30 41 31
+f 31 41 40
+f 36 43 37
+f 37 43 44
+f 37 44 38
+f 38 44 45
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_27.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cb5f45fd5d47a2c653f05c53a80bc4e5a7be2ca
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_27.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.04292189 0.01598005 0.15529998
+v -0.05218930 0.01363761 0.16819731
+v -0.05222526 0.01585134 0.16818536
+v -0.05211140 0.01797728 0.16844707
+v -0.04164548 0.01790519 0.15529999
+v -0.04143874 0.01158386 0.15529996
+v -0.04495634 0.00875445 0.16357848
+v -0.04164248 0.00643130 0.16229391
+v -0.05218930 0.01363761 0.16873265
+v -0.05222526 0.01585134 0.16875524
+v -0.05211140 0.01797728 0.16867156
+v -0.03744473 0.01871444 0.15529999
+v -0.03728593 0.00836729 0.15529995
+v -0.03989267 0.00643131 0.16000776
+v -0.04495634 0.00875444 0.16543556
+v -0.04135485 0.00643129 0.16556308
+v -0.04992414 0.01331054 0.16886948
+v -0.05020878 0.01577919 0.16886019
+v -0.05178781 0.01797728 0.16867156
+v -0.03593162 0.01825149 0.15529999
+v -0.03608143 0.00766866 0.15529995
+v -0.03368143 0.00643133 0.15529994
+v -0.03732189 0.00643129 0.16513402
+v -0.04692788 0.01330092 0.16882298
+v -0.04692788 0.01435428 0.16882298
+v -0.03844248 0.01435910 0.16506497
+v -0.03318106 0.01689873 0.15529998
+v -0.02161551 0.00643133 0.15529994
+v -0.04160353 0.01172211 0.16708544
+v -0.03338780 0.00643130 0.16382821
+v -0.03484398 0.00856085 0.16469034
+v -0.03484398 0.01048118 0.16469035
+v -0.03721102 0.01180387 0.16539705
+v -0.02161551 0.00736443 0.15808559
+v -0.02161551 0.00736925 0.15546202
+v -0.02161551 0.00736925 0.15529995
+v -0.02161551 0.00643132 0.15806964
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 20
+f 1 20 27
+f 1 27 36
+f 1 36 28
+f 1 28 22
+f 1 22 21
+f 1 21 13
+f 1 13 6
+f 1 6 2
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+f 2 10 3
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+f 16 24 17
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+f 18 25 19
+f 19 25 26
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+f 20 26 27
+f 23 29 24
+f 23 30 31
+f 23 31 29
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+f 25 33 26
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+f 26 32 34
+f 26 34 27
+f 27 34 35
+f 27 35 36
+f 28 36 35
+f 28 35 34
+f 28 34 37
+f 29 31 32
+f 30 37 31
+f 31 37 34
+f 31 34 32
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_28.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5681f5bcf3a86896dd8d09665c47eac136506d7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_28.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.04521141 -0.01165257 0.11334480
+v 0.04759853 -0.01165257 0.11510813
+v 0.04374540 -0.01165257 0.11339518
+v 0.05822381 -0.00621872 0.11439752
+v 0.06053309 -0.00649677 0.11453540
+v 0.06053309 -0.00717865 0.11453539
+v 0.04923967 -0.01165258 0.11728114
+v 0.04158856 -0.01048080 0.11426359
+v 0.04158856 -0.01165257 0.11377834
+v 0.05656321 -0.00240949 0.11846910
+v 0.05583993 -0.00637231 0.11461893
+v 0.04357351 -0.00267694 0.11900341
+v 0.06053309 -0.00649677 0.11541177
+v 0.06053309 -0.00717865 0.11541176
+v 0.05043972 -0.01165259 0.12112733
+v 0.04013553 -0.01165257 0.11421719
+v 0.03928901 -0.01083299 0.11481248
+v 0.02739881 0.00183271 0.12627420
+v 0.04995321 0.00187375 0.12515123
+v 0.05027755 0.00187374 0.12688938
+v 0.05656321 -0.00240949 0.11997655
+v 0.04581143 0.00187375 0.12407334
+v 0.05711458 -0.00480202 0.12061161
+v 0.05578804 -0.00480203 0.12267591
+v 0.05702052 -0.00779700 0.12021651
+v 0.04912940 -0.01165261 0.12441138
+v 0.02739881 -0.01165259 0.12038753
+v 0.03095679 -0.01075225 0.11898614
+v 0.02739881 0.00183005 0.12688938
+v 0.02794694 0.00185256 0.12688938
+v 0.04158856 0.00187375 0.12491789
+v 0.05157166 -0.00480205 0.12688935
+v 0.05370904 -0.00480204 0.12489532
+v 0.03617537 0.00187374 0.12688938
+v 0.05315442 -0.00789764 0.12420854
+v 0.04543520 -0.01165262 0.12688933
+v 0.04924941 -0.00818100 0.12688934
+v 0.02739881 -0.01165262 0.12688933
+v 0.03624024 0.00187374 0.12685358
+v 0.03760246 0.00187375 0.12610582
+f 1 2 7
+f 1 7 15
+f 1 15 26
+f 1 26 36
+f 1 36 38
+f 1 38 27
+f 1 27 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
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+f 20 24 21
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+f 20 30 29
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+f 20 37 32
+f 21 24 23
+f 24 33 25
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+f 25 35 26
+f 26 35 37
+f 26 37 36
+f 30 34 39
+f 30 39 40
+f 30 40 31
+f 32 37 35
+f 32 35 33
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_29.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ae346b09b55d6887440e6da2028dcd60a99f39c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_29.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.03368020 0.00643133 0.15530005
+v -0.05274784 -0.00351778 0.16802793
+v -0.05274784 -0.00209208 0.16802793
+v -0.03989387 0.00643131 0.16000779
+v -0.02161551 0.00643133 0.15530005
+v -0.03001722 -0.00067058 0.15530003
+v -0.03134284 -0.00286659 0.15612777
+v -0.04481848 -0.00374758 0.16395779
+v -0.04992289 -0.00411572 0.16726164
+v -0.05274784 -0.00351778 0.16959622
+v -0.05274784 -0.00209208 0.16959622
+v -0.04164308 0.00643130 0.16229518
+v -0.02161551 0.00643132 0.15806923
+v -0.02161551 0.00288197 0.15530004
+v -0.02912737 -0.00213246 0.15530002
+v -0.02912737 -0.00325174 0.15565886
+v -0.03295187 -0.00391460 0.15837228
+v -0.04160346 -0.00443809 0.16322296
+v -0.04992289 -0.00411573 0.16990214
+v -0.04992289 -0.00138029 0.16990215
+v -0.04135358 0.00643129 0.16556329
+v -0.02161551 0.00328520 0.15814069
+v -0.03338765 0.00643130 0.16382773
+v -0.03443596 -0.00067062 0.16495855
+v -0.02161551 0.00318306 0.15801775
+v -0.02627500 -0.00329325 0.15738154
+v -0.02627500 -0.00329324 0.15555878
+v -0.02591845 -0.00209309 0.15530002
+v -0.02729283 -0.00235802 0.15530002
+v -0.02880740 -0.00371777 0.15856527
+v -0.03328404 -0.00419976 0.16255962
+v -0.03761746 -0.00438489 0.16212788
+v -0.04170403 -0.00435936 0.16672696
+v -0.04576318 -0.00385612 0.16931029
+v -0.04576318 -0.00126964 0.16931030
+v -0.03732186 0.00643129 0.16513298
+v -0.03235763 -0.00067061 0.16380770
+v -0.03466756 -0.00334222 0.16484702
+v -0.02161551 0.00321711 0.15813069
+v -0.04316069 -0.00194525 0.16880564
+v -0.03744375 -0.00067062 0.16635385
+v -0.04316069 -0.00317200 0.16880564
+v -0.02161551 0.00318944 0.15807207
+v -0.02720446 -0.00158454 0.16013356
+v -0.02997760 -0.00368373 0.16128584
+v -0.03744375 -0.00413274 0.16551321
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 21
+f 1 21 36
+f 1 36 23
+f 1 23 13
+f 1 13 5
+f 1 5 14
+f 1 14 28
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+f 1 29 15
+f 1 15 6
+f 1 6 7
+f 1 7 2
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+f 2 11 3
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+f 5 25 14
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+f 10 20 11
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+f 17 32 18
+f 18 32 33
+f 18 33 19
+f 19 34 35
+f 19 35 20
+f 19 33 34
+f 20 35 36
+f 20 36 21
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+f 22 38 39
+f 22 24 37
+f 23 36 40
+f 23 40 41
+f 23 41 24
+f 24 41 42
+f 24 42 38
+f 24 38 37
+f 25 43 26
+f 26 44 45
+f 26 45 30
+f 26 30 27
+f 26 43 39
+f 26 39 44
+f 27 29 28
+f 30 45 31
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+f 31 46 33
+f 31 33 32
+f 33 46 34
+f 34 46 42
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+f 34 40 35
+f 35 40 36
+f 38 42 46
+f 38 46 45
+f 38 45 39
+f 39 45 44
+f 40 42 41
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_3.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e775ee599191f72dfe2e8fc8fbc06ed9a7d5ac4e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_3.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.02455407 0.03237399 0.05508721
+v 0.02379397 0.03512414 0.05508722
+v 0.02315153 0.03473595 0.05761371
+v 0.02342451 0.03237398 0.05815205
+v 0.02332803 0.02973082 0.05802411
+v 0.02362689 0.02961699 0.05508720
+v 0.02341980 0.02996539 0.05244877
+v 0.02399635 0.03237400 0.05160661
+v 0.02381750 0.03505557 0.05171056
+v 0.02066886 0.03534360 0.05499927
+v 0.02077711 0.03526951 0.05907951
+v 0.00955684 0.03536684 0.07590149
+v 0.02211375 0.03237397 0.06021749
+v 0.01223718 0.02135549 0.07592276
+v 0.01416684 0.02135552 0.06746646
+v 0.01329379 0.02135551 0.07134682
+v 0.01414096 0.02135552 0.06706137
+v 0.00894029 0.02135554 0.06144605
+v 0.00831197 0.02135554 0.06139541
+v 0.02233966 0.02996539 0.05244877
+v 0.01282550 0.02135554 0.06321833
+v 0.01281138 0.02135554 0.06318101
+v 0.02180312 0.03237400 0.05160661
+v 0.02197491 0.03505557 0.05171056
+v 0.00051332 0.03536684 0.07664771
+v 0.00345017 0.03536685 0.07355622
+v 0.00940623 0.03536687 0.06919082
+v 0.01071699 0.03536687 0.06889500
+v 0.01159004 0.03536687 0.06940136
+v 0.01103232 0.03536686 0.07148812
+v 0.00980393 0.03536684 0.07533116
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_30.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..431b8b693abfe33f937a49d5b43b7ba2bf77be19
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_30.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.00069352 -0.02040285 0.16893142
+v -0.00069352 -0.02104339 0.16571768
+v -0.00069352 -0.00480151 0.16436796
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+v -0.01909034 -0.00647130 0.15529858
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_31.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2abf74f2bca8fca3af03eedeb5303ee4078200a4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_31.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.02642721 -0.00401783 0.14442921
+v -0.02627786 -0.00480188 0.14456220
+v -0.02642721 -0.00401783 0.14306129
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_32.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90b5d2d1f5b5f2321483ff3d205bf32e570f6c32
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_32.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.05821954 0.01540224 0.12688943
+v 0.05324473 0.00422958 0.12688939
+v 0.06050333 0.00944053 0.11544651
+v 0.06050333 0.01021919 0.11544652
+v 0.06050333 0.01021919 0.11461315
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+v 0.05622390 0.00545453 0.11931185
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+v 0.05807427 0.01540225 0.12632018
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+v 0.05621914 0.01382642 0.11885479
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+v 0.03796073 0.01540224 0.12669525
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+v 0.04995360 0.00187375 0.12515147
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+v 0.05580000 0.01382642 0.11885479
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+v 0.03624134 0.00187374 0.12685319
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+v 0.04959877 0.01540226 0.12248135
+v 0.04158765 0.00187375 0.12491871
+v 0.03760351 0.00187375 0.12610545
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_33.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bbd0d2675a22eb1d08381fa81cc33bfd2db586f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_33.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00416798 -0.01978927 0.02206166
+v -0.00127445 -0.01967113 0.02206166
+v -0.00142912 -0.01963967 0.03408812
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+f 20 27 21
+f 21 27 36
+f 21 36 40
+f 21 40 39
+f 21 39 44
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+f 21 37 28
+f 21 28 22
+f 22 28 29
+f 22 29 23
+f 24 31 30
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+f 31 41 39
+f 34 43 35
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+f 37 44 38
+f 38 44 45
+f 39 41 45
+f 39 45 44
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_34.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..023b2d4b871f7fb7085b9807b9a90bd536705126
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_34.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.05011044 0.00386378 0.10542071
+v -0.05010095 0.00325316 0.10542071
+v -0.05653633 0.00093450 0.10619419
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+v -0.04576434 -0.00712757 0.11531050
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+v -0.04817603 0.00386375 0.11515020
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+v -0.02430572 0.00386372 0.12333447
+v -0.02595566 0.00386372 0.12341905
+v -0.02912909 0.00386372 0.12332038
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+f 1 38 37
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+f 28 34 41
+f 28 41 42
+f 28 42 43
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+f 28 31 30
+f 28 33 34
+f 32 34 33
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_35.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19fddb97a298b104fde20ef6f0bbdc525c6d0ba4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_35.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.00395553 0.01584438 0.12117336
+v 0.00395553 0.01981233 0.12113316
+v 0.00132041 0.01585056 0.11936826
+v 0.00150200 0.01319979 0.11928383
+v 0.00395553 0.01548011 0.12114320
+v 0.00395553 0.01993375 0.12107688
+v -0.00695666 0.01954275 0.11168357
+v -0.00695666 0.01327185 0.11209362
+v 0.00395553 0.01287255 0.11979239
+v -0.00695666 0.01227986 0.11158506
+v 0.00150627 0.00905281 0.11579223
+v 0.00395553 0.00790647 0.11596912
+v 0.00395553 0.01065398 0.11808579
+v 0.00395553 0.02175513 0.11971805
+v 0.00113669 0.02304966 0.11584856
+v -0.00695666 0.02101016 0.10874679
+v -0.00695666 0.01066018 0.10874675
+v 0.00395553 0.00520015 0.10878493
+v 0.00395553 0.02376792 0.11707475
+v 0.00395553 0.02499455 0.11273891
+v -0.00695666 0.02086198 0.10825833
+v 0.00395553 0.00396945 0.10436063
+v -0.00695666 0.01151840 0.10540794
+v 0.00395553 0.02448827 0.11186652
+v -0.00695666 0.01981238 0.10619996
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+v 0.00395553 0.01142169 0.10063792
+v 0.00395553 0.00788595 0.10065801
+v -0.00695666 0.01876277 0.10593060
+v 0.00395553 0.01924435 0.10503610
+v 0.00395553 0.01585063 0.10157666
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+f 25 31 29
+f 27 29 31
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_36.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73d28a195353a76c39cc90306417a3fc4cdff030
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_36.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.02739881 0.03677959 0.10855613
+v 0.02739881 0.03838398 0.11027989
+v 0.02739881 0.03705177 0.10486406
+v 0.03161458 0.03833674 0.10226749
+v 0.03159673 0.03828947 0.10461753
+v 0.03130726 0.03843127 0.10680653
+v 0.02739881 0.03893263 0.11043696
+v 0.02739881 0.03924781 0.10284803
+v 0.02761942 0.03912175 0.10277845
+v 0.03039295 0.03833674 0.10226749
+v 0.03598338 0.04227327 0.09793723
+v 0.03604203 0.04202687 0.10048806
+v 0.03148324 0.04063733 0.10692781
+v 0.03563780 0.04223028 0.10290969
+v 0.02739881 0.04271014 0.10925003
+v 0.03146411 0.04329462 0.10688408
+v 0.02739881 0.04235635 0.10154778
+v 0.03945316 0.05085255 0.09012565
+v 0.03825703 0.04627713 0.09360497
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+v 0.04009330 0.04627713 0.09360497
+v 0.03999766 0.04628715 0.09636259
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+v 0.03957685 0.04665959 0.09851779
+v 0.03957685 0.04704207 0.09851779
+v 0.02739881 0.04681714 0.10723203
+v 0.03049879 0.04604645 0.10638904
+v 0.02772526 0.04710650 0.10697555
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+v 0.02739881 0.04636449 0.09987174
+v 0.03945316 0.05101299 0.09012565
+v 0.03975410 0.05085255 0.09012565
+v 0.04042485 0.04924384 0.09223114
+v 0.04031901 0.04860924 0.09641429
+v 0.04020552 0.05140261 0.09507227
+v 0.03868040 0.04979534 0.09782392
+v 0.02739881 0.04710793 0.10698351
+v 0.03326850 0.04767235 0.10339085
+v 0.03590814 0.05120062 0.09881803
+v 0.02739881 0.04868371 0.10038073
+v 0.03781072 0.05130092 0.09259896
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+v 0.03975410 0.05101299 0.09012565
+v 0.03525397 0.05103589 0.09421536
+v 0.03734783 0.05141407 0.09641430
+v 0.02739881 0.04767521 0.10575481
+v 0.03430778 0.05120062 0.09881803
+v 0.03449778 0.05119634 0.09636261
+v 0.02739881 0.04804194 0.10475674
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_37.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cbdb6ca2bff3aaca87ada1b90c160dfc268c2d1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_37.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.02161551 0.00288398 0.15529861
+v -0.02161551 0.00736879 0.15529863
+v -0.02048094 0.00158847 0.15529861
+v -0.01898388 0.00117386 0.16957401
+v -0.02161551 0.00318390 0.15801698
+v -0.02161551 0.00736250 0.15808571
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+v -0.01928493 0.01011369 0.15529864
+v -0.01991980 0.00095878 0.15529860
+v -0.01823842 0.00167635 0.17232586
+v -0.01973343 0.00321683 0.17083367
+v -0.02161551 0.00319018 0.15807159
+v -0.01157640 -0.00377731 0.16240547
+v -0.01052784 -0.00377731 0.16384305
+v -0.02161551 0.00328754 0.15814030
+v -0.02064273 0.00759016 0.16653151
+v -0.01925012 0.01015918 0.16993521
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+v -0.01727793 0.01145788 0.15529864
+v -0.01664715 -0.00016870 0.15529860
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+v -0.01702398 0.01066324 0.17105039
+v -0.01246112 0.01038059 0.17033336
+v -0.01245293 0.01220378 0.15529864
+v -0.01298744 0.01226502 0.15529865
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+v -0.00248139 -0.00377728 0.15529859
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+v -0.00069352 -0.00038542 0.15918853
+v -0.00069352 0.00026784 0.15529860
+v -0.00530144 0.00596644 0.17065927
+f 1 2 8
+f 1 8 19
+f 1 19 33
+f 1 33 32
+f 1 32 31
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+f 1 56 46
+f 1 46 34
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+f 47 52 48
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_38.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a142753e4094fff93eb3bb2b577750fc60a3d6d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_38.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.03626942 0.00906797 0.13727526
+v 0.03096482 0.01020670 0.13570575
+v 0.03396890 0.00732225 0.13727526
+v 0.03626942 -0.00235689 0.13727522
+v 0.03626942 0.01106309 0.13635328
+v 0.03326845 0.01584385 0.13391973
+v 0.03326845 0.01278058 0.13520665
+v 0.03096482 0.00858331 0.13570574
+v 0.03309597 -0.00088408 0.13727523
+v 0.03311954 0.00593413 0.13727525
+v 0.03087920 0.01831423 0.13180638
+v 0.03028360 0.01584856 0.13256368
+v 0.03004846 0.01163717 0.13377638
+v 0.03181790 -0.01741908 0.13233078
+v 0.03208530 -0.01947536 0.13163851
+v 0.03339005 -0.01737202 0.13218846
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+v 0.03626942 -0.01797431 0.13063215
+v 0.03626942 0.01584385 0.13403358
+v 0.03626942 0.01835657 0.13275175
+v 0.03326845 0.01910474 0.13222214
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+v 0.03181790 -0.01305711 0.13342050
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+v 0.03087920 0.01831423 0.13072378
+v 0.03028360 0.01584857 0.13029987
+v 0.02993182 0.01171717 0.13054280
+v 0.03181790 -0.02371026 0.12763032
+v 0.03181790 -0.01947536 0.13163851
+v 0.03326845 -0.02382320 0.12771672
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+v 0.03626942 -0.02140929 0.12900468
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+v 0.03626942 0.02349967 0.12873343
+v 0.03626942 0.02370200 0.12689047
+v 0.03619125 0.02367847 0.12689047
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+v 0.03181790 -0.02380437 0.12689029
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_39.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1b0f90190b150a3d0858e19618fee55bfed114a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_39.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.00243223 -0.03180557 0.16816243
+v -0.00194491 -0.03180557 0.16816243
+v -0.00243223 -0.03180557 0.16873528
+v -0.00740254 -0.02436176 0.15529852
+v -0.00416922 -0.02546578 0.15529852
+v -0.00194491 -0.03180557 0.16873528
+v -0.00304331 -0.02535728 0.15529852
+v -0.00069352 -0.02504335 0.15529852
+v -0.00442018 -0.02104341 0.17128650
+v -0.00685162 -0.02104341 0.17046637
+v -0.00656628 -0.02464097 0.16896225
+v -0.00947387 -0.02104335 0.15529853
+v -0.00069352 -0.02500332 0.15769789
+v -0.00154870 -0.02958487 0.16907649
+v -0.00069352 -0.02104335 0.15529853
+v -0.00103129 -0.02545530 0.16946780
+v -0.00076228 -0.02132468 0.16962119
+v -0.00077775 -0.02104340 0.16962119
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+v -0.00069352 -0.02496751 0.15835995
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+v -0.00069352 -0.02107184 0.16570363
+v -0.00069352 -0.02161963 0.16504313
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_4.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..069c3c3f5ff67aae85ba13e66870c80e6aadf86d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_4.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.00244012 0.04466600 0.07577923
+v -0.00241876 0.04086974 0.07572818
+v -0.00243122 0.04063832 0.07815484
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+v -0.00000877 0.04063832 0.07907870
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+v -0.00222475 0.05125298 0.07328397
+v 0.00193666 0.06351231 0.06519808
+v 0.00182631 0.06128911 0.06511889
+v -0.00218204 0.04239872 0.07357077
+v 0.00187792 0.05891714 0.06523326
+v 0.00344958 0.03537097 0.07355667
+v 0.00051452 0.03537096 0.07665026
+v 0.00415086 0.04063832 0.07913149
+v 0.00190818 0.04691950 0.07782052
+v 0.00030983 0.04466599 0.07820764
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+v 0.00051452 0.03537095 0.07843286
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+v 0.01445472 0.05944335 0.06120350
+v 0.01445472 0.05909072 0.06120350
+v 0.00940513 0.03537099 0.06919255
+v 0.01044104 0.03883386 0.07782400
+v 0.00833897 0.04038212 0.07814604
+v 0.00697379 0.04333262 0.07796480
+v 0.00385184 0.04473210 0.07821468
+v 0.00226416 0.04691950 0.07782052
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+v 0.00415086 0.03537095 0.07883232
+v 0.00774982 0.03537095 0.07819354
+v 0.00839949 0.03681177 0.07824810
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+v 0.00269134 0.05528890 0.07378726
+v 0.00415086 0.05980144 0.07003379
+v 0.00292985 0.06351231 0.06566089
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+v 0.01535357 0.04860001 0.07177060
+v 0.01541942 0.05302714 0.07045433
+v 0.00830871 0.04890028 0.07555576
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+v 0.01574337 0.05272136 0.06713550
+v 0.01074006 0.05114002 0.07377317
+v 0.01500649 0.04607929 0.06907469
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_40.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..738054fcd1c10418aad4c17c033fa72ccc34daaf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_40.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.00395553 -0.02781862 0.12259068
+v 0.00348879 -0.02781862 0.12264857
+v 0.00395553 -0.02882820 0.12176428
+v 0.00395553 -0.02781859 0.11406329
+v -0.00000910 -0.02781862 0.12226531
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+f 36 40 37
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_41.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5403d26b63512b2546b42ea021e17e6ef3c63034
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_41.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.04481140 -0.04461332 0.17201567
+v -0.03999451 -0.04748515 0.16813730
+v -0.03999451 -0.04881024 0.16813729
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+f 2 10 6
+f 3 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 5 18 21
+f 5 21 7
+f 6 19 20
+f 6 20 11
+f 6 10 19
+f 7 21 35
+f 7 35 22
+f 7 22 23
+f 7 23 24
+f 7 24 8
+f 8 24 9
+f 9 24 25
+f 9 25 10
+f 10 25 39
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+f 10 52 60
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+f 10 47 46
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+f 10 59 58
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+f 10 54 53
+f 10 53 41
+f 10 41 36
+f 10 36 20
+f 10 20 19
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+f 11 20 26
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+f 12 14 13
+f 14 27 40
+f 14 40 28
+f 14 28 29
+f 14 29 15
+f 15 29 30
+f 15 30 16
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 18
+f 18 35 21
+f 20 36 26
+f 22 35 37
+f 22 37 23
+f 23 37 38
+f 23 38 24
+f 24 38 39
+f 24 39 25
+f 26 36 27
+f 27 36 41
+f 27 41 40
+f 28 42 30
+f 28 30 29
+f 28 40 43
+f 28 43 42
+f 30 42 31
+f 31 42 43
+f 31 43 44
+f 31 44 33
+f 31 33 32
+f 33 45 46
+f 33 46 47
+f 33 47 48
+f 33 48 34
+f 33 44 45
+f 34 48 49
+f 34 49 50
+f 34 50 35
+f 35 50 37
+f 37 50 38
+f 38 50 51
+f 38 51 39
+f 39 51 49
+f 39 49 52
+f 40 41 53
+f 40 53 54
+f 40 54 43
+f 43 54 55
+f 43 55 56
+f 43 56 44
+f 44 56 57
+f 44 57 58
+f 44 58 59
+f 44 59 45
+f 45 59 46
+f 47 60 48
+f 48 60 49
+f 49 60 52
+f 49 51 50
+f 55 57 56
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_42.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31848780ea4a75a852afd4c4ff14393357c15c3c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_42.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.04544132 -0.00401779 0.13464501
+v -0.04289480 -0.00401780 0.13521917
+v -0.04576675 -0.00401780 0.13485324
+v -0.05232152 0.00519559 0.13537487
+v -0.05232152 0.00580311 0.13537487
+v -0.05146455 0.00580311 0.13537487
+v -0.02463798 0.00986685 0.13727932
+v -0.03253788 -0.00401781 0.13926861
+v -0.04637151 -0.00401781 0.13778469
+v -0.05234322 0.00514529 0.13763916
+v -0.05234322 0.00583572 0.13763916
+v -0.04538166 0.00986683 0.14187462
+v -0.04166629 0.00986683 0.14056659
+v -0.02463798 0.00986682 0.14523872
+v -0.02463798 0.00869528 0.13785347
+v -0.02991000 -0.00401782 0.14048567
+v -0.02997780 -0.00401782 0.14044120
+v -0.04637423 -0.00401781 0.13803740
+v -0.05213440 0.00534644 0.13980439
+v -0.05213440 0.00566176 0.13980439
+v -0.04537352 0.00986682 0.14323522
+v -0.02463798 0.00736873 0.15529662
+v -0.02586649 0.00986678 0.15529663
+v -0.02463798 0.00867354 0.13786560
+v -0.02642515 -0.00401783 0.14306333
+v -0.02688347 -0.00401782 0.14268325
+v -0.04473079 -0.00401782 0.14044524
+v -0.04077677 0.00986679 0.15316577
+v -0.02463798 0.00308211 0.15529660
+v -0.03818957 0.00986678 0.15529663
+v -0.02463798 0.00805514 0.13896743
+v -0.02463798 0.00636712 0.14199186
+v -0.02463798 0.00305765 0.15471233
+v -0.02549496 -0.00067039 0.15498929
+v -0.02642515 -0.00401783 0.14443201
+v -0.04150900 -0.00401782 0.14262058
+v -0.02912625 -0.00213143 0.15529658
+v -0.03728921 0.00836632 0.15529662
+v -0.02559530 -0.00100745 0.15529659
+v -0.02591802 -0.00209201 0.15529658
+v -0.02729298 -0.00235704 0.15529658
+v -0.02908557 -0.00401783 0.14559448
+v -0.03754955 -0.00401783 0.14468877
+v -0.03328638 -0.00401784 0.14585326
+f 1 2 8
+f 1 8 17
+f 1 17 16
+f 1 16 26
+f 1 26 25
+f 1 25 35
+f 1 35 42
+f 1 42 44
+f 1 44 43
+f 1 43 36
+f 1 36 27
+f 1 27 18
+f 1 18 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 13 7
+f 5 7 6
+f 7 14 22
+f 7 22 29
+f 7 29 33
+f 7 33 32
+f 7 32 31
+f 7 31 24
+f 7 24 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 7 13 12
+f 7 12 21
+f 7 21 28
+f 7 28 30
+f 7 30 23
+f 7 23 14
+f 9 18 10
+f 10 19 20
+f 10 20 11
+f 10 18 19
+f 11 20 21
+f 11 21 12
+f 14 23 22
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 18 27 19
+f 19 27 28
+f 19 28 20
+f 20 28 21
+f 22 23 30
+f 22 30 38
+f 22 38 37
+f 22 37 41
+f 22 41 40
+f 22 40 39
+f 22 39 29
+f 24 31 25
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 27 36 37
+f 27 37 38
+f 27 38 28
+f 28 38 30
+f 29 39 34
+f 29 34 33
+f 34 39 35
+f 35 39 40
+f 35 40 41
+f 35 41 42
+f 36 43 37
+f 37 43 41
+f 41 43 44
+f 41 44 42
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_43.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..240ee312d98eddfcc3b954607c15556715dd57c6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_43.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.03181806 0.04844585 0.14461001
+v 0.03208600 0.04889440 0.14449146
+v 0.03181806 0.04889440 0.14460227
+v 0.03181806 0.04572029 0.14439996
+v 0.03592752 0.05302560 0.14041436
+v 0.03181806 0.05095999 0.14420411
+v 0.03977450 0.03407527 0.13589006
+v 0.03181806 0.04565173 0.14438965
+v 0.03532076 0.03237536 0.13967593
+v 0.03964987 0.04713738 0.13574835
+v 0.03568373 0.05530548 0.13997754
+v 0.03977450 0.03560090 0.13589006
+v 0.03181806 0.05144282 0.14404690
+v 0.03977450 0.03407527 0.13481666
+v 0.03256346 0.02824702 0.14066684
+v 0.03181806 0.02625284 0.14028026
+v 0.03181806 0.02611858 0.13992203
+v 0.03181806 0.02828701 0.14111913
+v 0.03964987 0.04713738 0.13508344
+v 0.03568373 0.05530548 0.13916186
+v 0.03469375 0.05530548 0.13997754
+v 0.03181806 0.05248849 0.14254054
+v 0.03951123 0.03856075 0.13144572
+v 0.03951123 0.03857504 0.13144572
+v 0.03964287 0.03708083 0.13315825
+v 0.03181806 0.02611858 0.13895687
+v 0.03569619 0.03004122 0.13533981
+v 0.03181806 0.02758420 0.14086399
+v 0.03742768 0.04765165 0.13460667
+v 0.03469375 0.05530548 0.13916186
+v 0.03181806 0.05270563 0.13978296
+v 0.03181806 0.05261705 0.14158440
+v 0.03950344 0.03856075 0.13144572
+v 0.03950344 0.03857504 0.13144572
+v 0.03432533 0.03004122 0.13533981
+v 0.03181806 0.03058404 0.13566067
+v 0.03626868 0.04764308 0.13466594
+v 0.03181806 0.05243993 0.13906134
+v 0.03410256 0.04761736 0.13477676
+v 0.03307052 0.03215824 0.13478960
+v 0.03181806 0.03280963 0.13507566
+v 0.03181806 0.03568090 0.13505634
+v 0.03181806 0.04331189 0.13532439
+v 0.03293733 0.04436612 0.13488112
+v 0.03181806 0.03090688 0.13553568
+v 0.03181806 0.05016577 0.13784490
+v 0.03181806 0.04513750 0.13545584
+v 0.03181806 0.04652885 0.13601638
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 22
+f 1 22 32
+f 1 32 31
+f 1 31 38
+f 1 38 46
+f 1 46 48
+f 1 48 47
+f 1 47 43
+f 1 43 42
+f 1 42 41
+f 1 41 45
+f 1 45 36
+f 1 36 26
+f 1 26 17
+f 1 17 16
+f 1 16 28
+f 1 28 18
+f 1 18 8
+f 1 8 4
+f 1 4 2
+f 2 5 6
+f 2 6 3
+f 2 4 7
+f 2 7 5
+f 4 8 9
+f 4 9 7
+f 5 10 11
+f 5 11 6
+f 5 7 12
+f 5 12 10
+f 6 11 13
+f 7 14 12
+f 7 9 15
+f 7 15 16
+f 7 16 17
+f 7 17 26
+f 7 26 14
+f 8 18 15
+f 8 15 9
+f 10 19 20
+f 10 20 11
+f 10 12 19
+f 11 20 30
+f 11 30 21
+f 11 21 13
+f 12 14 19
+f 13 21 22
+f 14 23 24
+f 14 24 25
+f 14 25 19
+f 14 26 27
+f 14 27 23
+f 15 18 28
+f 15 28 16
+f 19 25 24
+f 19 24 29
+f 19 29 20
+f 20 29 30
+f 21 30 31
+f 21 31 32
+f 21 32 22
+f 23 27 35
+f 23 35 33
+f 23 33 34
+f 23 34 24
+f 24 34 29
+f 26 35 27
+f 26 36 35
+f 29 34 37
+f 29 37 30
+f 30 38 31
+f 30 37 39
+f 30 39 38
+f 33 35 40
+f 33 40 41
+f 33 41 42
+f 33 42 34
+f 34 43 44
+f 34 44 39
+f 34 39 37
+f 34 42 43
+f 35 36 45
+f 35 45 40
+f 38 39 46
+f 39 44 47
+f 39 47 48
+f 39 48 46
+f 40 45 41
+f 43 47 44
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_44.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f42dca2f54f7eed91d6fc49026c218d598ef42d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_44.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.05824274 0.03182820 0.14589319
+v -0.05824274 0.03151220 0.14293722
+v -0.06240171 0.03148856 0.14292692
+v -0.06233570 0.03131872 0.14610742
+v -0.05824274 0.03062221 0.14824971
+v -0.05408377 0.03067165 0.14836713
+v -0.05158838 0.03048463 0.14821675
+v -0.05158838 0.03048463 0.14751433
+v -0.05549429 0.03080280 0.14346249
+v -0.05499918 0.02681297 0.13489945
+v -0.05824274 0.02706450 0.13425469
+v -0.06073152 0.02672485 0.13449364
+v -0.06495871 0.03077055 0.14344806
+v -0.06495871 0.03077055 0.14487352
+v -0.06090536 0.03041799 0.14806226
+v -0.04897637 0.02635503 0.15222738
+v -0.04682207 0.02635503 0.15222738
+v -0.04247825 0.02694191 0.14998826
+v -0.04247825 0.02325950 0.13775652
+v -0.05443805 0.02411294 0.13483970
+v -0.06073152 0.02550381 0.13449363
+v -0.05818992 0.02412155 0.13433707
+v -0.06495871 0.02968925 0.14344806
+v -0.06495871 0.02968925 0.14487352
+v -0.06142469 0.02824248 0.14857105
+v -0.05824274 0.02824248 0.14967309
+v -0.05174902 0.02609061 0.15204199
+v -0.05018885 0.02447189 0.15278355
+v -0.04247825 0.01998329 0.15480224
+v -0.04556777 0.02448048 0.15302044
+v -0.04247825 0.02448048 0.15307399
+v -0.04247825 0.02027356 0.13774415
+v -0.05502559 0.02161499 0.13527226
+v -0.06120903 0.02513616 0.14683660
+v -0.05676839 0.02161499 0.13527226
+v -0.05302092 0.01700386 0.13880911
+v -0.06120903 0.02513615 0.14866991
+v -0.05324097 0.01998330 0.15260843
+v -0.05324537 0.02333684 0.15249928
+v -0.05441164 0.02447189 0.15187513
+v -0.04576582 0.01998329 0.15455710
+v -0.04247825 0.01665340 0.15529866
+v -0.04247825 0.00986683 0.14085663
+v -0.04833382 0.01326982 0.13947856
+v -0.05302092 0.01700385 0.14070216
+v -0.04538513 0.00986683 0.14187629
+v -0.05716229 0.02127528 0.14921990
+v -0.05241357 0.01755628 0.15236947
+v -0.04576582 0.01585371 0.15441084
+v -0.04992479 0.01998330 0.15371667
+v -0.04292495 0.01598269 0.15529866
+v -0.04247825 0.01570538 0.15529866
+v -0.04247825 0.00986682 0.14524012
+v -0.04537413 0.00986682 0.14323582
+v -0.04805656 0.01363952 0.15226441
+v -0.04576582 0.01285703 0.15300185
+v -0.04247825 0.01176927 0.15407300
+v -0.04476678 0.00986682 0.14436259
+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 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 8 19 9
+f 9 19 10
+f 10 20 11
+f 10 19 20
+f 11 21 12
+f 11 20 22
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+f 13 23 24
+f 13 24 14
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+f 14 25 15
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+f 18 43 32
+f 18 32 19
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+f 21 34 23
+f 21 22 35
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+f 21 36 34
+f 22 33 35
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+f 24 37 25
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+f 25 40 26
+f 26 40 27
+f 27 40 39
+f 27 39 28
+f 28 39 41
+f 28 41 29
+f 29 31 30
+f 29 41 42
+f 32 43 33
+f 33 43 35
+f 34 36 45
+f 34 45 37
+f 35 43 44
+f 35 44 36
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+f 36 46 45
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+f 37 48 38
+f 38 48 49
+f 38 49 50
+f 38 50 39
+f 39 50 41
+f 41 51 42
+f 41 50 51
+f 42 51 52
+f 43 53 58
+f 43 58 54
+f 43 54 46
+f 43 46 44
+f 45 46 54
+f 45 54 47
+f 47 54 55
+f 47 55 48
+f 48 55 56
+f 48 56 57
+f 48 57 49
+f 49 57 51
+f 49 51 50
+f 51 57 52
+f 53 57 58
+f 54 58 55
+f 55 58 56
+f 56 58 57
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_45.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a7d4d6dcf132cfb4f9dcb9d21dff3043d28c1d0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_45.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.00528532 -0.03638405 0.10497465
+v -0.00591239 -0.03638405 0.10511191
+v -0.00770869 -0.02781853 0.09767440
+v -0.00570337 -0.02781853 0.09767440
+v -0.00547420 -0.02790490 0.09777272
+v -0.00543678 -0.02781853 0.09772015
+v -0.00530079 -0.02781854 0.10048392
+v -0.00528532 -0.03527300 0.10577097
+v -0.00528532 -0.03638406 0.10761868
+v -0.00741621 -0.03638405 0.10570380
+v -0.00825194 -0.02781853 0.09793335
+v -0.00550190 -0.02781854 0.10105829
+v -0.00528532 -0.03527300 0.10729353
+v -0.00689958 -0.03544322 0.10704626
+v -0.00741621 -0.03638405 0.10719618
+v -0.00896032 -0.02781854 0.10024931
+v -0.00890275 -0.02781854 0.09995725
+v -0.00867682 -0.02781854 0.10050534
+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 13
+f 1 13 9
+f 1 9 15
+f 1 15 10
+f 1 10 2
+f 2 10 3
+f 3 11 17
+f 3 17 16
+f 3 16 18
+f 3 18 12
+f 3 12 7
+f 3 7 6
+f 3 6 4
+f 3 10 11
+f 4 6 5
+f 7 12 13
+f 7 13 8
+f 9 13 14
+f 9 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 12 18 13
+f 13 18 14
+f 14 18 15
+f 15 18 16
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_46.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09e746a12f9457ed7909488af1735062c0624caf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_46.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.01219128 -0.05058704 0.13694566
+v 0.01302135 -0.05352120 0.13694565
+v 0.01219128 -0.05030840 0.13694567
+v 0.01352493 -0.05358934 0.13485381
+v 0.01821736 -0.05668877 0.13124385
+v 0.01821736 -0.05668878 0.13235955
+v 0.01656196 -0.05395906 0.13694565
+v 0.01245828 -0.05025105 0.13694567
+v 0.01352493 -0.05095946 0.13485382
+v 0.01821736 -0.05596350 0.13124385
+v 0.01892913 -0.05668877 0.13124385
+v 0.01892913 -0.05668878 0.13235955
+v 0.01791183 -0.05364264 0.13694565
+v 0.01683437 -0.04979632 0.13694567
+v 0.01662956 -0.05045209 0.13450666
+v 0.01892913 -0.05596350 0.13124385
+v 0.01909677 -0.05340313 0.13487111
+v 0.01909677 -0.05340313 0.13631721
+v 0.01791183 -0.05245117 0.13694566
+v 0.01721763 -0.04992654 0.13694567
+v 0.01909677 -0.05117940 0.13487112
+v 0.01909677 -0.05117940 0.13631722
+v 0.01771716 -0.05025983 0.13694567
+f 1 2 7
+f 1 7 13
+f 1 13 19
+f 1 19 23
+f 1 23 20
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_47.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42bf4e2f14d9966fbf8338f3cc9985795576fa55
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_47.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.04432555 -0.00110869 0.12688937
+v 0.05004469 -0.00110869 0.12688937
+v 0.04432555 -0.00110873 0.13869109
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_48.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dd5ae3e76aaa1b94f095f49ccd707848b533f13
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_48.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.05265984 -0.00111121 0.14596447
+v 0.05265012 -0.00111121 0.14640273
+v 0.06479628 -0.00680044 0.14453576
+v 0.06479628 -0.00680044 0.14376447
+v 0.04563067 -0.00111118 0.13911945
+v 0.05253106 -0.00111121 0.14655123
+v 0.06155989 -0.00619965 0.14855801
+v 0.06433220 -0.00766670 0.14728644
+v 0.06914548 -0.01005556 0.14445933
+v 0.06914548 -0.01005556 0.14332907
+v 0.04432591 -0.00111118 0.13911945
+v 0.06140682 -0.01460488 0.13911940
+v 0.04962026 -0.00111122 0.14963494
+v 0.05265012 -0.00624698 0.15227605
+v 0.06272130 -0.00900003 0.14865891
+v 0.06457274 -0.01041976 0.14800150
+v 0.04960082 -0.00111122 0.14965225
+v 0.04849287 -0.00246718 0.15232364
+v 0.06914548 -0.01140122 0.14445933
+v 0.06914548 -0.01140122 0.14332907
+v 0.06499794 -0.01828797 0.13911938
+v 0.04432591 -0.02110687 0.13911937
+v 0.04432591 -0.00111123 0.15220111
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+v 0.05406665 -0.01969333 0.14455589
+v 0.04574729 -0.01166257 0.15237983
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_49.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f94b1f0ec33ceba5ba38600f8fce161b6bc6765b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_49.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.00695666 0.01326979 0.11208991
+v -0.00695666 0.01227721 0.11158554
+v -0.00695666 0.01442093 0.11200118
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+v -0.01066049 -0.00115390 0.12688937
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+v -0.01729885 0.01436303 0.10049409
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+v -0.02110797 0.00537027 0.12688939
+v -0.01934521 0.00389302 0.07917978
+v -0.01935710 0.00038299 0.12688937
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_5.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2d4a7dde2d49eda112d7a854d18b5f8639504b4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_5.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.00069352 -0.02040205 0.16893217
+v -0.00069352 -0.02442868 0.15993915
+v 0.00369572 -0.02501358 0.15757813
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+v -0.00069352 -0.00035085 0.15582179
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+v -0.00069352 -0.00038712 0.15918916
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_50.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d9ff30b87fb6ab184f3a7d88a16a1fcc8ac98ea
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_50.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00436699 0.00339604 0.15529861
+v 0.00060013 0.00339604 0.15529861
+v 0.00436699 -0.00401787 0.15529859
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+f 5 12 11
+f 5 11 21
+f 5 21 23
+f 5 23 22
+f 5 22 16
+f 5 16 7
+f 5 7 6
+f 8 16 17
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 16 22 17
+f 19 23 20
+f 20 23 21
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_51.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d781c3ed0eb268b85e672f2334653fdb9ecf7cb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_51.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.01687021 -0.05068735 0.14605984
+v -0.01516558 -0.06293318 0.13757435
+v -0.01524873 -0.06262829 0.14068933
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+v -0.01509074 -0.05737400 0.14431152
+v -0.01248598 -0.05805471 0.14471108
+v -0.01248598 -0.05436749 0.14630609
+v -0.01465835 -0.06451089 0.13549172
+v -0.01430911 -0.06502142 0.13549172
+v -0.01687021 -0.03789901 0.13870953
+v -0.01358360 -0.06519516 0.13763958
+v -0.01351292 -0.06503916 0.13995053
+v -0.01248598 -0.06011815 0.14347324
+v -0.01687021 -0.04611023 0.14951078
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+v -0.01687021 -0.03456277 0.13931134
+v -0.01184571 -0.02897875 0.14036490
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+v -0.01664570 -0.03784941 0.15103405
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+v -0.01687021 -0.02897877 0.14764186
+v -0.01664570 -0.03052103 0.14872150
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+v -0.01687021 -0.03371191 0.15015992
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+v -0.01664570 -0.02897877 0.14768753
+v 0.00436491 -0.02951059 0.14995444
+v -0.01683071 -0.02897877 0.14765002
+v 0.00436491 -0.02961341 0.15002131
+f 1 2 3
+f 1 3 4
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+f 1 10 20
+f 1 20 29
+f 1 29 32
+f 1 32 31
+f 1 31 47
+f 1 47 49
+f 1 49 56
+f 1 56 55
+f 1 55 53
+f 1 53 46
+f 1 46 45
+f 1 45 26
+f 1 26 16
+f 1 16 8
+f 1 8 5
+f 1 5 2
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+f 2 7 3
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+f 2 8 6
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+f 29 33 32
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+f 30 49 47
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+f 38 44 50
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+f 48 56 49
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+f 52 58 59
+f 53 55 54
+f 53 54 60
+f 54 57 61
+f 54 61 59
+f 54 59 58
+f 54 58 60
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_52.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fd23b2dd5e5977d2bcae2cbfa71a92ce29800cc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_52.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.00439107 -0.02557147 0.13245825
+v -0.00609778 -0.02756193 0.13549567
+v -0.00631605 -0.02756193 0.13549567
+v -0.00509786 -0.02557147 0.13264601
+v 0.00436491 -0.02557150 0.14210725
+v 0.00436491 -0.02578662 0.14212553
+v 0.00436491 -0.02897841 0.14255753
+v -0.00829301 -0.02897841 0.14081117
+v -0.01184571 -0.02897841 0.14036419
+v -0.01687021 -0.02897841 0.14099395
+v -0.00715589 -0.02557147 0.13397697
+v 0.00436491 -0.02557152 0.14687941
+v 0.00436491 -0.02897844 0.14943329
+v -0.01687021 -0.02897843 0.14764207
+v -0.01687021 -0.02557150 0.14238640
+v -0.01264813 -0.02557152 0.14577776
+v -0.01664570 -0.02897843 0.14768860
+v -0.01683071 -0.02897843 0.14765038
+v -0.01687021 -0.02557151 0.14540722
+v -0.01664570 -0.02557151 0.14544211
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 15
+f 1 15 19
+f 1 19 20
+f 1 20 16
+f 1 16 12
+f 1 12 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 5 12 13
+f 5 13 7
+f 5 7 6
+f 7 13 17
+f 7 17 18
+f 7 18 14
+f 7 14 10
+f 7 10 9
+f 7 9 8
+f 10 14 19
+f 10 19 15
+f 10 15 11
+f 12 16 13
+f 13 16 17
+f 14 18 19
+f 16 20 17
+f 17 20 19
+f 17 19 18
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_53.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9611ff65a4b1b83f5558e17ed88bd1014a369755
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_53.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00869281 -0.00115527 0.08395801
+v -0.00899687 -0.00115525 0.07987530
+v -0.00888674 -0.00115528 0.08810570
+v 0.00395553 -0.00915933 0.08057716
+v 0.00395553 -0.00915479 0.08021794
+v -0.00905912 -0.00115525 0.07917977
+v -0.00908306 -0.00115530 0.09219351
+v 0.00395553 -0.00938576 0.08369047
+v 0.00395553 -0.01285229 0.08023702
+v 0.00344079 -0.01325305 0.07917972
+v -0.01919121 -0.00115525 0.07917977
+v -0.01948569 -0.00115530 0.09219351
+v 0.00080961 -0.01340707 0.09219346
+v 0.00104423 -0.01373765 0.09219346
+v 0.00209766 -0.01507128 0.09116799
+v 0.00395553 -0.00960539 0.08381785
+v 0.00395553 -0.01289985 0.08368918
+v 0.00215512 -0.01937103 0.08144717
+v 0.00235623 -0.01742151 0.07917971
+v 0.00247115 -0.01703206 0.07917971
+v -0.02012972 -0.00480293 0.07917975
+v -0.02024703 -0.00480293 0.07985235
+v -0.01925585 -0.00115525 0.07969441
+v -0.01950963 -0.00115530 0.09174893
+v -0.02050321 -0.00926352 0.09219348
+v 0.00173615 -0.01652945 0.09219345
+v 0.00209766 -0.01524789 0.09116799
+v 0.00395553 -0.01280023 0.08378090
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+v -0.00530508 -0.02421427 0.09219342
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+v -0.01953596 -0.00897139 0.07917974
+v -0.01957906 -0.00915026 0.07990966
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+v -0.00759868 -0.02042615 0.07917969
+v -0.00813498 -0.02428672 0.09219342
+v -0.00470414 -0.02163978 0.07917969
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+f 48 54 49
+f 49 54 55
+f 53 55 54
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_54.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d387c2fea113455fc73613475a81a3a0ce7093d9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_54.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.00436862 -0.02154324 0.12688929
+v 0.00436862 -0.01960778 0.13694480
+v 0.00436862 -0.00910451 0.12688934
+v 0.02104365 -0.01488000 0.12688932
+v 0.02104365 -0.01484904 0.12731556
+v 0.02104365 -0.01473549 0.12820741
+v 0.02104365 -0.01457034 0.12948613
+v 0.01315260 -0.01532391 0.13694481
+v 0.00436862 0.02814971 0.13694497
+v 0.00436862 0.02426843 0.12994204
+v 0.00528277 0.02141941 0.12688945
+v 0.02104365 0.00256519 0.12688938
+v 0.02104365 -0.01308905 0.13255742
+v 0.02104365 -0.01296518 0.13275921
+v 0.01603217 -0.01302197 0.13694482
+v 0.00830599 0.02803100 0.13694497
+v 0.00436862 0.03118457 0.13263632
+v 0.00436862 0.02568779 0.13007296
+v 0.00436862 0.02808780 0.13032005
+v 0.00436862 0.03118458 0.13065672
+v 0.00555865 0.02284909 0.12688945
+v 0.01754214 0.01997941 0.12688944
+v 0.01705079 0.02433035 0.13694496
+v 0.01795841 0.01975228 0.13694494
+v 0.02104365 0.00228647 0.12886308
+v 0.02104365 -0.01284131 0.13283107
+v 0.01641252 -0.01254713 0.13694482
+v 0.01202134 0.02700390 0.13694497
+v 0.00655278 0.03082844 0.13218843
+v 0.00655278 0.03082845 0.13097468
+v 0.01247026 0.02503748 0.12688946
+v 0.01098640 0.02501683 0.12688946
+v 0.00697068 0.02386586 0.12688946
+v 0.01588525 0.02339619 0.12688946
+v 0.01678471 0.02450067 0.13694496
+v 0.01906681 0.00263225 0.13694488
+v 0.02104365 -0.00599228 0.13574291
+v 0.02104365 -0.00480002 0.13562184
+v 0.02104365 -0.00133678 0.13400550
+v 0.02104365 -0.00068645 0.13370132
+v 0.02104365 -0.00060387 0.13360091
+v 0.02104365 0.00225551 0.12908161
+v 0.02104365 -0.00876906 0.13512372
+v 0.01895744 -0.00820648 0.13694484
+v 0.01274287 0.02673552 0.13694497
+v 0.01453199 0.02408264 0.12688946
+v 0.01917945 -0.00153808 0.13694486
+v 0.02003646 -0.00754067 0.13628333
+f 1 2 9
+f 1 9 17
+f 1 17 20
+f 1 20 19
+f 1 19 18
+f 1 18 10
+f 1 10 3
+f 1 3 11
+f 1 11 21
+f 1 21 33
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+f 29 35 30
+f 30 34 46
+f 30 46 31
+f 36 47 37
+f 37 47 44
+f 37 44 48
+f 37 48 43
+f 43 48 44
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_55.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..662f931d6d16449f5f55cda57d8a3b9f1d9fb20e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_55.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.02080646 -0.02781773 0.10482547
+v -0.02430501 -0.02781772 0.10460204
+v -0.02080646 -0.02958574 0.10461831
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+v -0.02430501 -0.02781770 0.09817377
+v -0.02430501 -0.02958574 0.10424100
+v -0.02430501 -0.03241791 0.10345900
+v -0.02080646 -0.03287136 0.10347972
+v -0.01834082 -0.03209676 0.10302917
+v -0.01703829 -0.02781772 0.10389256
+v -0.01703829 -0.02781771 0.10132761
+v -0.02430501 -0.02959571 0.09775502
+v -0.02430501 -0.03294042 0.10327775
+v -0.02430501 -0.03467765 0.10189650
+v -0.02430501 -0.03631670 0.09931010
+v -0.02282037 -0.03584246 0.09880554
+v -0.01834082 -0.03209675 0.10199416
+v -0.02282037 -0.03584246 0.09836091
+v -0.02430501 -0.03437063 0.09727116
+v -0.02430501 -0.03371583 0.09726747
+v -0.02430501 -0.03631670 0.09772540
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 2
+f 2 5 12
+f 2 12 20
+f 2 20 19
+f 2 19 21
+f 2 21 15
+f 2 15 14
+f 2 14 13
+f 2 13 7
+f 2 7 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 5 11 12
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 18
+f 9 18 17
+f 9 17 11
+f 9 11 10
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 15 21 18
+f 15 18 16
+f 18 21 19
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_56.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92d191f99ab6efad58b3c781aea0f30b3052f0b6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_56.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.02104470 -0.05342732 0.15074667
+v 0.02104470 -0.05342733 0.15280026
+v 0.02104470 -0.05087315 0.14881630
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+v 0.02597993 -0.05702814 0.15255906
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+v 0.02942715 -0.05844212 0.15263367
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+v 0.02104470 -0.04613216 0.15369998
+v 0.03136640 -0.06064626 0.15185457
+v 0.02910814 -0.04593459 0.14656578
+v 0.02104470 -0.04612520 0.14702647
+v 0.03136640 -0.06064626 0.15217558
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+v 0.02925085 -0.05434226 0.15293387
+v 0.03162035 -0.05570080 0.15243588
+v 0.02273840 -0.04009154 0.15203076
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+v 0.03164659 -0.05849756 0.15132448
+v 0.02104470 -0.03822353 0.14495730
+v 0.02497988 -0.03781112 0.14493995
+v 0.03176412 -0.04539050 0.14837731
+v 0.03176412 -0.04347053 0.14837732
+v 0.02104470 -0.02524470 0.14494000
+v 0.02104470 -0.03784927 0.15157094
+v 0.02104470 -0.04145354 0.15273090
+v 0.02112655 -0.04167188 0.15275780
+v 0.03176412 -0.04347052 0.14696576
+v 0.02572913 -0.03642833 0.14493996
+v 0.02104470 -0.03774181 0.14493995
+v 0.02496519 -0.03211360 0.14493997
+v 0.02553500 -0.03313597 0.14493997
+f 1 2 7
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+f 1 36 26
+f 1 26 17
+f 1 17 9
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+f 1 4 5
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+f 24 29 28
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+f 27 30 37
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+f 27 38 35
+f 29 34 30
+f 30 34 37
+f 34 35 38
+f 34 38 37
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_57.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63cb748a2e4377b2999bda6d50b07819f7cfe700
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_57.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.02359361 -0.01992932 0.12688930
+v -0.02355119 -0.02143862 0.12688929
+v -0.02451818 -0.01719224 0.13764010
+v -0.02416758 -0.01719222 0.13351331
+v -0.02372932 -0.01726474 0.12934480
+v -0.02347485 -0.01390076 0.13069631
+v -0.02328542 -0.01868769 0.12688930
+v -0.02353989 -0.02165966 0.12688929
+v -0.02404882 -0.02127632 0.13341874
+v -0.02420151 -0.02159754 0.13795432
+v -0.02398945 -0.01719225 0.14081584
+v -0.02382263 -0.01279387 0.14193375
+v -0.02402903 -0.01306153 0.13764011
+v -0.02314122 -0.00989612 0.13451166
+v -0.01964084 -0.00552016 0.12688935
+v -0.02063610 -0.00893250 0.12688934
+v -0.02400924 -0.02165968 0.13358837
+v 0.00419734 -0.02165966 0.12688929
+v -0.02419020 -0.02165970 0.13787645
+v -0.02419020 -0.02165970 0.13792650
+v -0.01968042 -0.01274211 0.15529855
+v -0.02004517 -0.00893260 0.15529857
+v -0.02323452 -0.01084595 0.14393598
+v -0.02346072 -0.01033305 0.14176413
+v -0.02339003 -0.00962156 0.13764012
+v -0.02246263 -0.00755621 0.13764013
+v -0.02232974 -0.00868384 0.13328531
+v -0.01882088 -0.00427162 0.12688935
+v -0.01994620 -0.00401779 0.13366909
+v 0.00436699 -0.02154224 0.12688929
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+v -0.01932699 -0.01331544 0.15529855
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+v -0.01908949 -0.00647005 0.15529858
+v -0.02009606 -0.00401780 0.13746218
+v -0.01862579 -0.00401777 0.12688936
+v 0.00436699 -0.00910864 0.12688934
+v 0.00436699 -0.02165976 0.15529852
+v -0.01729689 -0.00560143 0.15529858
+v -0.01664658 -0.00529922 0.15529858
+v -0.01534312 -0.00401784 0.14797938
+v -0.00996533 -0.00401777 0.12688936
+v 0.00436699 -0.00908274 0.12690602
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+v -0.01248741 -0.00470172 0.15529858
+v -0.01366080 -0.00401786 0.15119127
+v 0.00436699 -0.00401779 0.13224251
+v 0.00436699 -0.00555471 0.12968689
+v 0.00436699 -0.00556507 0.12967020
+v -0.00279493 -0.00401787 0.15529859
+v -0.01249872 -0.00401786 0.15172797
+f 1 2 3
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+f 1 6 7
+f 1 7 16
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+f 1 15 28
+f 1 28 37
+f 1 37 43
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+f 1 8 2
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+f 10 20 21
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+f 43 49 50
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_58.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4c9e2fc45a70ffe414509edc599b5c27990e058
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_58.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00421467 0.00766231 0.15529863
+v 0.00396468 0.00747904 0.15529863
+v 0.00436699 0.00756476 0.15529863
+v 0.00436699 0.02066882 0.15482460
+v 0.00060013 0.00339972 0.15529861
+v 0.00436699 0.00339972 0.15529861
+v 0.00436699 0.03300139 0.14827933
+v -0.00478674 0.03135488 0.14863426
+v -0.00478674 0.02781060 0.15048342
+v -0.00478674 0.02497577 0.15165496
+v -0.00478674 0.02466834 0.15178154
+v -0.00478674 0.02290950 0.15233505
+v -0.00478674 0.02242176 0.15246412
+v -0.00478674 0.01998008 0.15302010
+v -0.00478674 0.01524156 0.15381932
+v -0.00478674 0.01168251 0.15425368
+v -0.00478674 0.00339972 0.15482453
+v 0.00436699 0.00339979 0.13618888
+v 0.00436699 0.03118350 0.13065637
+v 0.00415015 0.03121897 0.13062658
+v -0.00478674 0.03359557 0.14465545
+v -0.00478674 0.03359557 0.14523130
+v -0.00478674 0.00339976 0.14340933
+v 0.00436699 0.02134289 0.13050493
+v -0.00478674 0.00759142 0.14134175
+v -0.00478674 0.00880043 0.14090242
+v 0.00436699 0.02808854 0.13032128
+v 0.00162696 0.03099727 0.13082515
+v 0.00436699 0.02569120 0.13007306
+v -0.00478674 0.01474205 0.13935857
+v 0.00165385 0.02824225 0.13091947
+v 0.00436699 0.02427231 0.12994399
+v -0.00478674 0.01172395 0.14008333
+f 1 2 5
+f 1 5 6
+f 1 6 3
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+f 3 18 24
+f 3 24 32
+f 3 32 29
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+f 28 31 30
+f 30 31 33
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_59.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1bf96ffe7560b949919a3618eb2ac10fc018317
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_59.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.01298812 0.01226862 0.15529865
+v -0.01501069 0.01198730 0.15529864
+v -0.01245270 0.01220780 0.15529864
+v -0.00832850 0.01998229 0.15334929
+v -0.00832850 0.02326316 0.15249002
+v -0.01091851 0.02279935 0.15238156
+v -0.01102459 0.02739182 0.14893332
+v -0.01501069 0.01358402 0.15356340
+v -0.01501069 -0.00053171 0.15529860
+v -0.00895398 0.01136002 0.15529864
+v -0.00478674 0.01998229 0.15301837
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+v -0.00478674 0.02290960 0.15233429
+v -0.00478674 0.02466599 0.15178369
+v -0.00478674 0.02781001 0.15048504
+v -0.00832850 0.02533129 0.15163352
+v -0.00747383 0.03131518 0.14858851
+v -0.00659315 0.03482037 0.14463693
+v -0.01501069 0.02450641 0.12688946
+v -0.01501069 0.02429351 0.12773484
+v -0.01501069 0.02391334 0.12921147
+v -0.01501069 0.02106202 0.13879986
+v -0.01501069 0.02007357 0.14118304
+v -0.01501069 0.01427213 0.15257341
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+v -0.00659315 0.03482037 0.14347730
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+v -0.00478674 0.03359242 0.14465638
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+v -0.00947739 0.00617079 0.12688939
+v -0.00948640 0.00319786 0.12688938
+v -0.00478674 -0.00064187 0.13197833
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+f 1 4 5
+f 1 5 2
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+f 47 49 53
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+f 49 54 53
+f 49 52 55
+f 51 55 52
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_6.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c110584da1291dc3aa254db96d563891c6d0690
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_6.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.05186681 -0.02357219 0.10246524
+v 0.05186681 -0.02327723 0.10246524
+v 0.05222915 -0.02357219 0.10246524
+v 0.05104781 -0.03201224 0.11440946
+v 0.03816979 -0.02434548 0.11405805
+v 0.03110413 -0.02344271 0.11898781
+v 0.03020324 -0.02132423 0.11864594
+v 0.02740129 -0.01719889 0.11957597
+v 0.02767925 -0.01719490 0.11937036
+v 0.02740129 -0.01677240 0.11952336
+v 0.05152432 -0.01481132 0.10646742
+v 0.05222915 -0.02327723 0.10246524
+v 0.02740129 -0.01306358 0.11996805
+v 0.02740129 -0.01184591 0.12030277
+v 0.02740129 -0.01165459 0.12038645
+v 0.05274288 -0.02431555 0.10461932
+v 0.05243514 -0.03201224 0.11440946
+v 0.05104781 -0.03201224 0.11554747
+v 0.03522887 -0.02758600 0.12307122
+v 0.03074178 -0.02376357 0.12112754
+v 0.02740129 -0.02187430 0.12525400
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+v 0.02740129 -0.02010855 0.12098650
+v 0.04374142 -0.01165457 0.11339586
+v 0.04521312 -0.01165457 0.11334565
+v 0.05227134 -0.01481132 0.10646742
+v 0.04013289 -0.01165457 0.11421828
+v 0.04158722 -0.01165457 0.11377838
+v 0.05274288 -0.02257373 0.10461933
+v 0.02740129 -0.01165462 0.12688693
+v 0.05275280 -0.02444112 0.10790901
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+v 0.04158722 -0.02813007 0.12378606
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+v 0.04550101 -0.01165462 0.12684390
+v 0.03983507 -0.02265554 0.12688689
+v 0.03871330 -0.02370580 0.12688688
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+f 1 7 8
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+f 32 48 49
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+f 49 56 50
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_60.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9b78a8dd2c66dbf3542459415cf7fd5221b8d33
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_60.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.01501069 0.01198580 0.15529864
+v -0.01501069 0.01358079 0.15356340
+v -0.02319709 0.02622650 0.13974259
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+v -0.01501069 -0.00053302 0.15529860
+v -0.01501069 0.01426571 0.15257341
+v -0.02282862 0.02622650 0.13974259
+v -0.02463704 0.02804027 0.13769031
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+v -0.01727899 0.01145943 0.15529864
+v -0.01548942 -0.00044424 0.15529860
+v -0.01501069 -0.00401785 0.14846046
+v -0.01501069 0.02007489 0.14118304
+v -0.02246487 0.02696532 0.13764026
+v -0.02463704 0.02804978 0.13760689
+v -0.01568732 0.02589359 0.12688947
+v -0.02463704 0.00736893 0.15529863
+v -0.01664760 -0.00016837 0.15529860
+v -0.01534430 -0.00401784 0.14797938
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+v -0.02463704 0.00308501 0.15529861
+v -0.01501069 0.02106106 0.13879986
+v -0.02463704 0.02837641 0.13384161
+v -0.01501069 0.02391493 0.12921147
+v -0.01501069 0.02429227 0.12773484
+v -0.01501069 0.02450790 0.12688946
+v -0.01797446 0.02633435 0.12688947
+v -0.02009668 -0.00401780 0.13746218
+v -0.01862847 -0.00401777 0.12688936
+v -0.02463704 0.00305964 0.15471185
+v -0.01893003 0.02634386 0.12688947
+v -0.02463704 0.02798638 0.13355240
+v -0.01994873 -0.00401779 0.13366909
+v -0.02098911 0.00358611 0.12688938
+v -0.02463704 0.00637014 0.14198944
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+v -0.02463704 0.02064885 0.13379431
+v -0.02027291 0.02063302 0.12688945
+v -0.02124921 0.00759099 0.12688940
+v -0.02463704 0.00805708 0.13896666
+v -0.02463704 0.00867541 0.13786544
+v -0.02463704 0.01119631 0.13658625
+v -0.02463704 0.01172268 0.13639994
+v -0.02110879 0.00537134 0.12688939
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+f 7 14 8
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+f 17 29 25
+f 17 24 26
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+f 36 39 46
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_61.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a148216851f6ae14814009168e49bbd5037891a7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_61.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.00860358 0.00932346 0.07917980
+v 0.00599745 0.01341754 0.07917982
+v 0.01261487 0.00932346 0.07917980
+v 0.00395553 0.00932338 0.10065881
+v 0.00580132 0.01585261 0.07917983
+v 0.01558371 0.01251487 0.07917982
+v 0.01392734 0.00932341 0.09223440
+v 0.00395553 0.00932337 0.10459485
+v 0.00395553 0.01142139 0.10063643
+v 0.00600416 0.01843402 0.07917984
+v 0.00395553 0.01585253 0.10157443
+v 0.01663422 0.01585261 0.07917983
+v 0.01767936 0.01585256 0.09223443
+v 0.01596925 0.01206759 0.09223441
+v 0.01388435 0.00932340 0.09521256
+v 0.01316565 0.00932337 0.10459485
+v 0.00395553 0.01851778 0.10459489
+v 0.00831072 0.02036925 0.07917984
+v 0.00434779 0.01929221 0.10459489
+v 0.00778950 0.02459971 0.10459491
+v 0.00781502 0.02463260 0.10459491
+v 0.01559983 0.01914761 0.07917984
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+v 0.01649316 0.01998280 0.09636206
+v 0.01635748 0.01998277 0.10459489
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+v 0.01583626 0.01231093 0.09636204
+v 0.01386688 0.00932340 0.09636202
+v 0.01526130 0.01293405 0.10459487
+v 0.01242948 0.02114368 0.07917985
+v 0.01034592 0.02611896 0.10459492
+v 0.01456678 0.02206110 0.09011716
+v 0.01478440 0.02221894 0.09223445
+v 0.01488381 0.02375459 0.10459491
+v 0.01666511 0.01585252 0.10459488
+v 0.01246978 0.02610088 0.10459492
+f 1 2 5
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+f 1 22 12
+f 1 12 6
+f 1 6 3
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_62.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afc377c8730eed94739e8362e6afbc1375515dd2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_62.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00395553 -0.01290199 0.08369049
+v 0.00395553 -0.01285194 0.08023713
+v 0.01246871 -0.01207534 0.08397911
+v 0.01245626 -0.01137711 0.10459478
+v 0.00854051 -0.01150764 0.10459478
+v 0.00825725 -0.01125312 0.10459478
+v 0.00593364 -0.00893197 0.10459479
+v 0.00568929 -0.00865352 0.10459479
+v 0.00395553 0.00409209 0.10459484
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+v 0.01264302 -0.01167940 0.07968231
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+v 0.01491372 -0.01130090 0.08397911
+v 0.01416201 -0.01082021 0.10459478
+v 0.00395553 0.00932172 0.10459485
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+v 0.00542939 -0.00445493 0.07917975
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+v 0.01702100 -0.00412862 0.07917975
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+v 0.01639691 0.00713117 0.08810679
+v 0.01616657 0.00724644 0.09223440
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+v 0.01582729 0.00680706 0.07917980
+v 0.01392700 0.00932176 0.09223440
+v 0.01741631 -0.00067193 0.07917977
+v 0.01747390 0.00000027 0.07917977
+v 0.01765132 0.00345914 0.07917978
+v 0.01887460 0.00221915 0.08524804
+v 0.01895864 0.00268684 0.08810677
+v 0.01736028 0.00402256 0.07917978
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+f 41 51 50
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+f 41 52 45
+f 41 45 42
+f 42 46 44
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_63.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21fa17e6a9a23f49819053e5664f1a1c5b82c5f1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_63.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.00841292 -0.00115533 0.10048955
+v -0.00848761 -0.00115532 0.09684699
+v -0.00843505 -0.00115533 0.10097329
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+v -0.00908515 -0.00115530 0.09219351
+v -0.00884170 -0.00115534 0.10461729
+v 0.00395553 -0.01445783 0.10698961
+v 0.00395553 -0.01298586 0.10506767
+v 0.00173414 -0.01652740 0.09219345
+v 0.00104531 -0.01374006 0.09219346
+v 0.00081017 -0.01340861 0.09219346
+v -0.00914877 -0.00115535 0.10698966
+v -0.01948394 -0.00115530 0.09219351
+v 0.00395553 -0.01322597 0.10531968
+v 0.00298730 -0.01727648 0.10698960
+v 0.00238700 -0.01973496 0.10387423
+v 0.00238700 -0.01973495 0.10150621
+v 0.00173414 -0.01656133 0.09219345
+v -0.02430572 -0.00115535 0.10698966
+v -0.02050196 -0.00926415 0.09219348
+v -0.02430572 -0.01614897 0.09221228
+v -0.02430572 -0.01321809 0.09235712
+v -0.02430572 -0.01270917 0.09269892
+v -0.02430572 -0.00115534 0.10254473
+v 0.00225145 -0.01881630 0.10698959
+v 0.00202737 -0.01917124 0.10698959
+v -0.00151912 -0.02447187 0.10352081
+v 0.00165115 -0.01689800 0.09219345
+v -0.00151912 -0.02447186 0.10153660
+v -0.00052046 -0.02054920 0.09219343
+v -0.00050109 -0.02052310 0.09219343
+v -0.02430572 -0.02273110 0.10698958
+v -0.01114609 -0.02097983 0.09219343
+v -0.02430572 -0.02781769 0.09817501
+v -0.00824694 -0.02418474 0.09219342
+v -0.00813628 -0.02428653 0.09219342
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+v -0.00530075 -0.02781770 0.10048220
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+v -0.00416930 -0.02285637 0.10698958
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+v -0.00291614 -0.02238138 0.10698958
+v -0.01877021 -0.02781771 0.10452739
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+f 17 29 30
+f 17 30 31
+f 17 31 28
+f 19 24 23
+f 19 23 22
+f 19 22 21
+f 19 21 34
+f 19 34 43
+f 19 43 32
+f 20 33 21
+f 21 33 35
+f 21 35 36
+f 21 36 34
+f 26 37 27
+f 27 37 38
+f 27 38 39
+f 27 39 40
+f 27 40 29
+f 29 40 41
+f 29 41 30
+f 30 41 42
+f 32 43 44
+f 32 44 45
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+f 34 46 48
+f 34 48 41
+f 34 41 40
+f 34 40 39
+f 34 39 50
+f 34 50 44
+f 34 44 43
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+f 37 49 38
+f 38 49 45
+f 38 45 50
+f 38 50 39
+f 41 48 47
+f 41 47 42
+f 44 50 45
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_64.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d918c06d82bee4ce112de5d83a2ba65b9af016b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_64.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.00395553 0.01040795 0.10459735
+v 0.00395553 0.01040790 0.11789708
+v 0.00395553 0.01851948 0.10459738
+v 0.01316670 0.01040795 0.10459735
+v 0.00419648 0.01040790 0.11800182
+v 0.01247139 0.01100213 0.12688723
+v 0.01112666 0.01147858 0.12688723
+v 0.00940559 0.01247075 0.12688724
+v 0.00734260 0.01517573 0.12688725
+v 0.00586936 0.01724203 0.12688725
+v 0.00395553 0.01065209 0.11808693
+v 0.00395553 0.01924524 0.10503597
+v 0.00614932 0.02628605 0.10654818
+v 0.00434794 0.01929136 0.10459738
+v 0.01526182 0.01293362 0.10459736
+v 0.02739881 0.01620041 0.10910553
+v 0.02315121 0.01375499 0.11076390
+v 0.01378170 0.01040793 0.10874765
+v 0.00830640 0.01040790 0.11774652
+v 0.01221667 0.01040790 0.11672749
+v 0.01352928 0.01040792 0.11287395
+v 0.01606958 0.01210359 0.12688723
+v 0.00566742 0.01823762 0.12688726
+v 0.00395553 0.01548144 0.12114403
+v 0.00395553 0.01287208 0.11979113
+v 0.00395553 0.02448783 0.11187025
+v 0.00533239 0.02687519 0.10874553
+v 0.00831099 0.02685300 0.10559025
+v 0.00781532 0.02463130 0.10459740
+v 0.00779008 0.02460057 0.10459740
+v 0.01527100 0.01294899 0.10459736
+v 0.02739881 0.01818817 0.10860803
+v 0.02739881 0.01609624 0.11113049
+v 0.02315121 0.01375499 0.11089919
+v 0.02739881 0.01609624 0.11209061
+v 0.01711140 0.01404865 0.12688724
+v 0.00528190 0.02142246 0.12688727
+v 0.00395553 0.01584687 0.12117240
+v 0.00395553 0.02499331 0.11274089
+v 0.00511668 0.02699814 0.11201864
+v 0.00831099 0.02785370 0.10874553
+v 0.01247139 0.02684275 0.10562517
+v 0.01034644 0.02611870 0.10459741
+v 0.01666621 0.01585377 0.10459737
+v 0.02739881 0.01982413 0.10829599
+v 0.02739881 0.01998122 0.11301363
+v 0.01736841 0.01585368 0.12688725
+v 0.00555728 0.02284839 0.12688727
+v 0.00395553 0.02175549 0.11971915
+v 0.00395553 0.01993339 0.12107640
+v 0.00395553 0.01981214 0.12113313
+v 0.00395553 0.02376716 0.11707449
+v 0.00697085 0.02386788 0.12688728
+v 0.00837983 0.02427260 0.12688728
+v 0.01098668 0.02501715 0.12688728
+v 0.01015139 0.02628258 0.11940277
+v 0.01141351 0.02628258 0.11940277
+v 0.01257236 0.02701693 0.10847932
+v 0.01458946 0.02627409 0.10659401
+v 0.02739881 0.02257693 0.11000238
+v 0.01247139 0.02609992 0.10459741
+v 0.01635642 0.01998126 0.10459738
+v 0.02739881 0.02109466 0.10884807
+v 0.01488548 0.02375526 0.10459740
+v 0.01755199 0.01834862 0.12688726
+v 0.02739881 0.02142765 0.11233284
+v 0.01754052 0.01998117 0.12688726
+v 0.01247139 0.02503765 0.12688728
+v 0.02739881 0.02257692 0.11160402
+v 0.01588600 0.02339656 0.12688728
+v 0.01453209 0.02408646 0.12688728
+f 1 2 11
+f 1 11 25
+f 1 25 24
+f 1 24 38
+f 1 38 51
+f 1 51 50
+f 1 50 49
+f 1 49 52
+f 1 52 39
+f 1 39 26
+f 1 26 12
+f 1 12 3
+f 1 3 14
+f 1 14 30
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+f 1 29 43
+f 1 43 61
+f 1 61 64
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+f 1 62 44
+f 1 44 31
+f 1 31 15
+f 1 15 4
+f 1 4 18
+f 1 18 21
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+f 1 19 5
+f 1 5 2
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+f 2 6 7
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+f 3 12 13
+f 3 13 14
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+f 16 31 32
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+f 18 34 21
+f 21 34 22
+f 22 34 35
+f 22 35 36
+f 23 37 24
+f 24 37 38
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+f 37 51 38
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+f 40 56 41
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+f 42 59 60
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+f 57 69 58
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_65.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..264ac46f52ce55b038d637c4e5ec4598a73246e4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_65.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00436420 -0.02166015 0.15529852
+v -0.00908254 -0.02166015 0.15529852
+v 0.00436420 -0.02492137 0.15529851
+v 0.00436420 -0.02166009 0.13933084
+v -0.02150051 -0.02557150 0.14488420
+v -0.00740519 -0.02436079 0.15529851
+v -0.02419265 -0.02166009 0.13792650
+v 0.00421324 -0.02501250 0.15529851
+v 0.00436420 -0.02497804 0.15529573
+v 0.00419926 -0.02166005 0.12688929
+v 0.00436420 -0.02557149 0.14210613
+v -0.02354128 -0.02557149 0.14182248
+v -0.02057517 -0.02557150 0.14512892
+v -0.00417071 -0.02552636 0.15414724
+v -0.00417071 -0.02546548 0.15529851
+v -0.02419265 -0.02166009 0.13787645
+v 0.00414894 -0.02502705 0.15529851
+v 0.00436420 -0.02557151 0.14688086
+v 0.00411539 -0.02171825 0.12688929
+v -0.02353848 -0.02166005 0.12688929
+v -0.00439156 -0.02557146 0.13245933
+v -0.00086074 -0.02437792 0.12688928
+v -0.02375654 -0.02421138 0.13473129
+v -0.02331763 -0.02402871 0.12688928
+v -0.02207919 -0.02423739 0.12688928
+v -0.02067022 -0.02430593 0.12688928
+v -0.00509884 -0.02557146 0.13264843
+v -0.01264690 -0.02557151 0.14577686
+v -0.02401093 -0.02166007 0.13358837
+v -0.02346859 -0.02309021 0.12688929
+f 1 2 6
+f 1 6 15
+f 1 15 17
+f 1 17 8
+f 1 8 3
+f 1 3 9
+f 1 9 18
+f 1 18 11
+f 1 11 4
+f 1 4 10
+f 1 10 20
+f 1 20 29
+f 1 29 16
+f 1 16 7
+f 1 7 2
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+f 3 8 9
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+f 5 12 27
+f 5 27 21
+f 5 21 11
+f 5 11 18
+f 5 18 28
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+f 5 13 14
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+f 5 15 6
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+f 8 18 9
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+f 10 25 24
+f 10 24 30
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+f 10 11 19
+f 11 21 22
+f 11 22 19
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+f 13 28 14
+f 14 18 15
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+f 15 18 17
+f 16 29 23
+f 20 30 29
+f 21 27 26
+f 21 26 22
+f 23 29 30
+f 23 30 24
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_66.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a7fd9e69389651b87a0d3d015275ca82618f113
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_66.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.04247651 0.00986682 0.14383353
+v -0.02463798 0.00986682 0.14383353
+v -0.04247651 0.00986682 0.14524212
+v -0.04247651 0.02177050 0.14383357
+v -0.02463798 0.00986682 0.14524100
+v -0.02463798 0.01788106 0.14383356
+v -0.04077735 0.00986679 0.15316724
+v -0.04247651 0.01176990 0.15407412
+v -0.04247651 0.02444664 0.14633536
+v -0.04024822 0.03059428 0.14766541
+v -0.03917599 0.03059428 0.14766541
+v -0.04091356 0.02154124 0.14383357
+v -0.02463798 0.01170705 0.14563607
+v -0.02586564 0.00986678 0.15529864
+v -0.02576959 0.01847147 0.14383356
+v -0.03917599 0.03059427 0.14851729
+v -0.03087579 0.02240147 0.15239957
+v -0.02699550 0.01799465 0.15215713
+v -0.02651002 0.01585211 0.15269250
+v -0.02598264 0.01040444 0.15529864
+v -0.02463798 0.01629038 0.14458667
+v -0.03818757 0.00986678 0.15529864
+v -0.04054858 0.01109225 0.15529864
+v -0.04143920 0.01158527 0.15529864
+v -0.04247651 0.01570601 0.15529866
+v -0.04247651 0.02694221 0.14998760
+v -0.04024822 0.03059427 0.14851729
+v -0.02463798 0.01611590 0.14465625
+v -0.02463798 0.01618691 0.14463044
+v -0.03744540 0.02661351 0.15230868
+v -0.03516297 0.02634366 0.15222001
+v -0.03357907 0.02391302 0.15278792
+v -0.03328744 0.01998298 0.15436372
+v -0.02634063 0.01107601 0.15529864
+v -0.02934428 0.01961779 0.15288667
+v -0.04247651 0.01665352 0.15529866
+v -0.04247651 0.02448111 0.15307413
+v -0.04060272 0.02659119 0.15224807
+v -0.03744540 0.02411185 0.15337044
+v -0.03592960 0.01825231 0.15529867
+v -0.03318091 0.01689902 0.15529866
+v -0.04164526 0.01790739 0.15529867
+v -0.04247651 0.01998298 0.15480258
+v -0.04160335 0.01998298 0.15486767
+v -0.03744540 0.01871694 0.15529867
+f 1 2 5
+f 1 5 14
+f 1 14 22
+f 1 22 7
+f 1 7 3
+f 1 3 8
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+f 1 25 36
+f 1 36 43
+f 1 43 37
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+f 17 35 18
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+f 18 34 20
+f 18 20 19
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+f 27 38 30
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+f 30 39 31
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+f 39 45 40
+f 42 45 44
+f 42 44 43
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_67.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e47b66b12daba4754eb81927d40ccba4f1530c4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_67.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.02430454 -0.02272962 0.10698958
+v -0.01664841 -0.02222062 0.10698958
+v -0.02430454 -0.02265782 0.10881944
+v -0.02430454 -0.00115535 0.10698966
+v -0.01224294 -0.02109703 0.10698958
+v -0.01224294 -0.01598388 0.11873200
+v -0.02430454 -0.02133782 0.11169642
+v -0.02430454 -0.00115537 0.11217006
+v -0.01224294 -0.00115535 0.10698966
+v -0.01890605 -0.01322770 0.11873201
+v -0.01224294 -0.00115540 0.11873206
+v -0.02430454 -0.02095132 0.11184010
+v -0.02025213 -0.01234910 0.11873201
+v -0.01983886 -0.00115540 0.11873206
+v -0.02430454 -0.00480283 0.11348267
+v -0.02430454 -0.01674419 0.11331482
+v -0.02076104 -0.01090659 0.11873202
+v -0.02143172 -0.00886638 0.11873203
+v -0.02430454 -0.00844184 0.11448380
+v -0.02430454 -0.01299113 0.11446194
+v -0.02430454 -0.00927820 0.11467345
+v -0.02430454 -0.01256239 0.11451136
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 16
+f 1 16 20
+f 1 20 22
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+f 1 21 19
+f 1 19 15
+f 1 15 8
+f 1 8 4
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+f 1 5 2
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+f 12 13 16
+f 13 17 16
+f 14 15 18
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+f 16 17 18
+f 16 18 20
+f 18 19 21
+f 18 21 22
+f 18 22 20
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_68.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6c4f44f4cf4f9e296a6db9c67c4037722a7a9df
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_68.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.02172386 0.01852884 0.15529867
+v 0.02104365 0.01762551 0.15529866
+v 0.02338377 0.01829996 0.15529867
+v 0.02105104 0.01985640 0.15202954
+v 0.02104365 0.01886149 0.15400780
+v 0.02104365 -0.00087465 0.15529860
+v 0.02508587 0.01985336 0.14978182
+v 0.02507744 0.01985641 0.14978182
+v 0.02460498 0.01590428 0.15529866
+v 0.03181728 0.01027977 0.15233126
+v 0.03181728 0.01123805 0.15187138
+v 0.03181728 0.01462253 0.14958494
+v 0.03181728 0.01514439 0.14902342
+v 0.02104365 0.01985641 0.14942521
+v 0.02104365 0.01891948 0.15389162
+v 0.02104365 -0.00111880 0.15487423
+v 0.03181728 -0.00829973 0.15286851
+v 0.03181728 -0.00642286 0.15329935
+v 0.03181728 -0.00479929 0.15359302
+v 0.02405976 0.00273871 0.15529861
+v 0.02508693 0.01985641 0.14974470
+v 0.02726886 0.01850751 0.14818598
+v 0.02543072 0.01174464 0.15529864
+v 0.03181728 0.00608657 0.15284597
+v 0.03181728 0.00771624 0.15269430
+v 0.03181728 0.00973655 0.15243936
+v 0.03181728 0.01514440 0.14680474
+v 0.02104365 0.01985644 0.14263039
+v 0.02104365 -0.00119815 0.15434013
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+v 0.03066673 -0.00771073 0.15262647
+v 0.02456596 0.00339790 0.15529861
+v 0.03181728 -0.00075867 0.15332357
+v 0.02522613 0.00758805 0.15529863
+v 0.02539170 0.01985642 0.14640135
+v 0.02726886 0.01850751 0.14781162
+v 0.03181728 0.00346200 0.15302991
+v 0.03181728 0.00462478 0.14099901
+v 0.03181728 0.00374586 0.14051815
+v 0.03181728 -0.00095089 0.13881419
+v 0.03080488 -0.00813183 0.13937246
+v 0.02613518 -0.00067013 0.14254642
+v 0.02104365 -0.00067627 0.14999796
+v 0.03134588 -0.01078388 0.14176702
+v 0.03181728 -0.01118977 0.14127649
+v 0.03181728 -0.00869032 0.13922240
+v 0.02657600 -0.00359684 0.14303532
+f 1 2 6
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+f 1 20 32
+f 1 32 34
+f 1 34 23
+f 1 23 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_69.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39755ccf3a3f7ebca182d3342d281eaf720deffd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_69.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.05265750 -0.00111121 0.14596383
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_7.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a594b3d62613eddb03ce02c6fa43e841fd03a46a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_7.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.02770647 -0.01586115 0.08935576
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_70.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84922e3ce8f24e3eb839c83440ad8f3380f89761
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_70.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.01662963 -0.04610687 0.15395676
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+v 0.01662963 -0.04197517 0.15367038
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_71.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91b0ae0ed691afa38c5b3b8f850610c10c308c4d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_71.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.02104512 -0.03773911 0.14493995
+v 0.02104512 -0.03768600 0.14125152
+v 0.02276059 -0.03999962 0.13954978
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_72.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f6bd8f132b8b09897cda6bc6c87e7a6ca6e2b9d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_72.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.04432348 0.01780725 0.14633491
+v 0.04531863 0.01998376 0.14542530
+v 0.04432348 0.01999994 0.14593018
+v 0.04432348 0.01585305 0.14523544
+v 0.04439248 0.01585305 0.14508731
+v 0.04830562 0.02512127 0.14053786
+v 0.04830562 0.02666112 0.14053787
+v 0.04494637 0.02313900 0.14468607
+v 0.04432348 0.02250665 0.14519164
+v 0.04432348 0.01563723 0.14500108
+v 0.04830562 0.02512128 0.13923046
+v 0.04689651 0.02666112 0.14053787
+v 0.04432348 0.02314223 0.14474032
+v 0.04830562 0.02666113 0.13923047
+v 0.04432348 0.01563723 0.14325625
+v 0.04689651 0.02512128 0.13923046
+v 0.04689651 0.02666113 0.13923047
+v 0.04432348 0.02314224 0.14267212
+v 0.04432348 0.01585305 0.14318880
+v 0.04432348 0.01595448 0.14316167
+v 0.04432348 0.01998377 0.14220408
+f 1 2 3
+f 1 3 9
+f 1 9 13
+f 1 13 18
+f 1 18 21
+f 1 21 20
+f 1 20 19
+f 1 19 15
+f 1 15 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 4 10 5
+f 5 10 6
+f 6 11 14
+f 6 14 7
+f 6 10 15
+f 6 15 11
+f 7 12 13
+f 7 13 8
+f 7 14 17
+f 7 17 12
+f 8 13 9
+f 11 16 17
+f 11 17 14
+f 11 15 16
+f 12 17 18
+f 12 18 13
+f 15 19 16
+f 16 19 20
+f 16 20 21
+f 16 21 17
+f 17 21 18
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_73.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acbb1869a9caf7c6ee7cef8bc803a5385ba5e775
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_73.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.01065933 -0.00115543 0.12688937
+v -0.00417401 -0.00651783 0.11965291
+v -0.00914601 -0.00115535 0.10699160
+v -0.01224215 -0.00115543 0.12688937
+v -0.00417401 -0.01159519 0.12688933
+v -0.00417401 -0.00651782 0.11809070
+v -0.01224215 -0.00115535 0.10699160
+v -0.00417401 -0.00965641 0.10699351
+v -0.00417401 -0.00967624 0.10699156
+v -0.01224215 -0.01588167 0.12688931
+v -0.00417401 -0.02396375 0.12688928
+v -0.01224215 -0.02109776 0.10699152
+v -0.00417401 -0.02285549 0.10699152
+v -0.00865078 -0.02120692 0.12688929
+v -0.00650165 -0.02365386 0.12688928
+v -0.00417401 -0.02430092 0.12688343
+v -0.01092155 -0.02173738 0.10699152
+v -0.00417401 -0.02648256 0.12074365
+v -0.00676071 -0.02245386 0.10699152
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
+f 1 10 14
+f 1 14 15
+f 1 15 11
+f 1 11 5
+f 1 5 2
+f 2 6 3
+f 2 5 11
+f 2 11 16
+f 2 16 18
+f 2 18 13
+f 2 13 9
+f 2 9 8
+f 2 8 6
+f 3 6 8
+f 3 8 9
+f 3 9 13
+f 3 13 19
+f 3 19 17
+f 3 17 12
+f 3 12 7
+f 4 7 12
+f 4 12 10
+f 10 12 14
+f 11 15 16
+f 12 17 18
+f 12 18 15
+f 12 15 14
+f 13 18 19
+f 15 18 16
+f 17 19 18
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_74.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b44033f009671e3dc91f2be19632b1216ea0c909
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_74.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00992172 -0.06507699 0.08979674
+v 0.00992172 -0.06507699 0.09126589
+v 0.00992172 -0.06367798 0.08979674
+v 0.00992172 -0.06367798 0.09126589
+v 0.01092172 -0.06507699 0.08979674
+v 0.01092172 -0.06507699 0.09126589
+v 0.01092172 -0.06367798 0.08979674
+v 0.01092172 -0.06367798 0.09126589
+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/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_75.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d867dcd8cfddc0729bf9417fb6bf3708a3b63278
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_75.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.01492041 0.02145425 0.10644431
+v -0.01492041 0.02145424 0.10790749
+v -0.01492041 0.02246354 0.10644431
+v -0.00852587 0.01442095 0.10589445
+v -0.00952056 0.01442094 0.10848946
+v -0.00960163 0.01442094 0.10874557
+v -0.01143120 0.01998271 0.11102927
+v -0.01492041 0.02246353 0.10790749
+v -0.01092372 0.01718161 0.11105415
+v -0.01248747 0.02252062 0.10637027
+v -0.00695666 0.01876255 0.10592906
+v -0.00695666 0.01578781 0.10580585
+v -0.00695666 0.01442095 0.10588716
+v -0.00832553 0.01442093 0.11138488
+v -0.00695666 0.01954427 0.11168470
+v -0.01125736 0.02210912 0.11085754
+v -0.00695666 0.01442093 0.11200512
+v -0.01258180 0.02246273 0.10906785
+v -0.00756938 0.01442093 0.11172777
+v -0.00965074 0.02225422 0.10874560
+v -0.00961488 0.02226215 0.10650439
+v -0.00695666 0.01981307 0.10619973
+v -0.00695666 0.02101104 0.10874560
+v -0.01019174 0.02210912 0.11085754
+v -0.00695666 0.02086199 0.10825767
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 6 9
+f 2 9 7
+f 3 8 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 17
+f 4 17 19
+f 4 19 14
+f 4 14 6
+f 4 6 5
+f 6 14 9
+f 7 15 16
+f 7 16 8
+f 7 9 17
+f 7 17 15
+f 8 18 10
+f 8 16 18
+f 9 14 19
+f 9 19 17
+f 10 18 20
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 25
+f 11 25 23
+f 11 23 15
+f 11 15 17
+f 11 17 13
+f 11 13 12
+f 15 23 24
+f 15 24 16
+f 16 24 18
+f 18 24 20
+f 20 24 23
+f 20 23 21
+f 21 23 25
+f 21 25 22
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_76.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c3a7ea4e35c95a25d6feb901d962de2b467ae10
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_76.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.00395553 -0.01642531 0.11287216
+v 0.00395553 -0.01630712 0.11531864
+v 0.00395553 -0.01597615 0.10874522
+v 0.01481896 -0.01121940 0.10874524
+v 0.01619178 -0.01153725 0.11802003
+v 0.00395553 -0.01576605 0.11802001
+v 0.00395553 -0.01322348 0.10532121
+v 0.01245802 -0.01137698 0.10459858
+v 0.01416282 -0.01082014 0.10459858
+v 0.01459243 -0.01103290 0.10644986
+v 0.01830666 -0.01045509 0.11802003
+v 0.00395553 -0.00604768 0.11802005
+v 0.00395553 -0.01298446 0.10507025
+v 0.00854071 -0.01150831 0.10459858
+v 0.01542823 -0.00912862 0.10459859
+v 0.01876557 -0.00969601 0.11802003
+v 0.00692769 0.00344744 0.11802008
+v 0.00419573 0.01040789 0.11800172
+v 0.00395553 0.01040789 0.11789792
+v 0.00568962 -0.00865320 0.10459859
+v 0.00593372 -0.00893162 0.10459859
+v 0.00825755 -0.01125353 0.10459858
+v 0.00395553 0.00409363 0.10459864
+v 0.01965604 -0.00816996 0.11802004
+v 0.01985328 -0.00012730 0.10459862
+v 0.02326872 0.00077095 0.11358961
+v 0.00844697 0.00734529 0.11802010
+v 0.01229008 0.00808074 0.11802010
+v 0.00830637 0.01040789 0.11774814
+v 0.00395553 0.01040794 0.10459866
+v 0.02377255 0.00024300 0.11699918
+v 0.02390534 0.00015895 0.11802007
+v 0.01985328 0.00281973 0.10459863
+v 0.02326872 0.00194504 0.11358962
+v 0.01575044 0.00652317 0.11802009
+v 0.01221588 0.01040789 0.11672855
+v 0.01316689 0.01040794 0.10459866
+v 0.02377255 0.00242832 0.11699919
+v 0.02390534 0.00246509 0.11802008
+v 0.01806060 0.00489736 0.10459864
+v 0.01985718 0.00282236 0.10461834
+v 0.01353011 0.01040791 0.11287226
+v 0.01378007 0.01040792 0.10874663
+f 1 2 6
+f 1 6 12
+f 1 12 19
+f 1 19 30
+f 1 30 23
+f 1 23 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 11 16
+f 5 16 24
+f 5 24 32
+f 5 32 39
+f 5 39 35
+f 5 35 28
+f 5 28 27
+f 5 27 17
+f 5 17 12
+f 5 12 6
+f 7 13 8
+f 8 14 22
+f 8 22 21
+f 8 21 20
+f 8 20 23
+f 8 23 30
+f 8 30 37
+f 8 37 40
+f 8 40 33
+f 8 33 25
+f 8 25 15
+f 8 15 9
+f 8 13 14
+f 9 15 10
+f 10 15 11
+f 11 15 16
+f 12 17 18
+f 12 18 19
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 13 23 20
+f 15 24 16
+f 15 25 26
+f 15 26 24
+f 17 27 18
+f 18 27 28
+f 18 28 29
+f 18 29 36
+f 18 36 42
+f 18 42 43
+f 18 43 37
+f 18 37 30
+f 18 30 19
+f 24 26 31
+f 24 31 32
+f 25 33 34
+f 25 34 26
+f 26 34 38
+f 26 38 31
+f 28 35 29
+f 29 35 36
+f 31 38 39
+f 31 39 32
+f 33 40 41
+f 33 41 34
+f 34 41 40
+f 34 40 37
+f 34 37 38
+f 35 39 36
+f 36 39 42
+f 37 43 39
+f 37 39 38
+f 39 43 42
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_77.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b42db334393a0fef7b202e4b47351ccdfea30898
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_77.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.05050210 -0.01264286 0.13911677
+v 0.04993668 -0.01264286 0.13762111
+v 0.04432553 -0.01264286 0.13911677
+v 0.06140686 -0.01460703 0.13911677
+v 0.04977893 -0.01264286 0.13754829
+v 0.04432553 -0.01264285 0.13641073
+v 0.04432553 -0.02110655 0.13911674
+v 0.06499808 -0.01828983 0.13911675
+v 0.06525211 -0.01820247 0.13763780
+v 0.06514353 -0.01876430 0.13521823
+v 0.04990800 -0.01403313 0.13507740
+v 0.04553421 -0.01264285 0.13616960
+v 0.04777130 -0.02331921 0.13141518
+v 0.04432553 -0.01742975 0.13489356
+v 0.04533549 -0.01264285 0.13616602
+v 0.05542491 -0.02687398 0.12692340
+v 0.04432553 -0.02203742 0.13828834
+v 0.04574726 -0.02246067 0.13874551
+v 0.04574726 -0.02204344 0.13911674
+v 0.06499808 -0.01981417 0.13911675
+v 0.06525211 -0.02001601 0.13763780
+v 0.06514353 -0.01984579 0.13521823
+v 0.05655984 -0.02687398 0.12692340
+v 0.04777130 -0.02352105 0.13141518
+v 0.04432553 -0.02150267 0.13405917
+v 0.04432553 -0.01987892 0.13413438
+v 0.05542491 -0.02802928 0.12692340
+v 0.04432553 -0.02317614 0.13719253
+v 0.04574726 -0.02429228 0.13668165
+v 0.04990800 -0.02453930 0.13656228
+v 0.04626556 -0.02213080 0.13911674
+v 0.06241068 -0.02026304 0.13911675
+v 0.05329845 -0.02796453 0.13217196
+v 0.05607022 -0.02729574 0.13136145
+v 0.05655984 -0.02802928 0.12861005
+v 0.05655984 -0.02802928 0.12692340
+v 0.04432553 -0.02385093 0.13470016
+v 0.05112487 -0.02796452 0.13067988
+v 0.05112487 -0.02796453 0.13217196
+v 0.04432553 -0.02392174 0.13635219
+v 0.04432553 -0.02392174 0.13582220
+f 1 2 5
+f 1 5 12
+f 1 12 15
+f 1 15 6
+f 1 6 3
+f 1 3 7
+f 1 7 19
+f 1 19 31
+f 1 31 32
+f 1 32 20
+f 1 20 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 14
+f 3 14 26
+f 3 26 25
+f 3 25 37
+f 3 37 41
+f 3 41 40
+f 3 40 28
+f 3 28 17
+f 3 17 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 6 13 14
+f 6 15 16
+f 6 16 13
+f 7 17 18
+f 7 18 19
+f 8 20 21
+f 8 21 9
+f 9 21 22
+f 9 22 10
+f 10 22 36
+f 10 36 23
+f 10 23 11
+f 11 15 12
+f 11 23 16
+f 11 16 15
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 13 16 27
+f 13 27 24
+f 16 23 36
+f 16 36 27
+f 17 28 18
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 18 28 29
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 21 35 36
+f 21 36 22
+f 24 37 25
+f 24 27 38
+f 24 38 37
+f 27 36 35
+f 27 35 39
+f 27 39 38
+f 28 40 29
+f 29 40 39
+f 29 39 30
+f 30 39 33
+f 30 33 32
+f 30 32 31
+f 33 39 35
+f 33 35 34
+f 37 38 41
+f 38 39 40
+f 38 40 41
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_78.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f863e89e7204b79643dd0dff0ec903ee1a7ee6f3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_78.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.02104365 -0.01487969 0.12688932
+v 0.02121450 -0.01522554 0.12688931
+v 0.02104365 -0.01484801 0.12731654
+v 0.02104365 0.00256078 0.12688938
+v 0.02190630 -0.01654559 0.12688931
+v 0.02104365 -0.01457345 0.12948640
+v 0.02104365 0.00225189 0.12908265
+v 0.03124886 0.00316270 0.13332446
+v 0.03095885 0.00316270 0.13255582
+v 0.03181728 0.00316271 0.13085823
+v 0.03181728 0.00309408 0.12928369
+v 0.02794274 0.00185059 0.12688938
+v 0.02197274 -0.01635551 0.12938414
+v 0.02383936 -0.01864975 0.12688930
+v 0.02104365 -0.01308972 0.13255663
+v 0.02104365 -0.00061000 0.13360001
+v 0.03181728 0.00316270 0.13358096
+v 0.03181728 -0.00043573 0.12688937
+v 0.02573761 -0.02025756 0.12852537
+v 0.02248105 -0.01548164 0.13191450
+v 0.02561000 -0.02036581 0.12688930
+v 0.02104365 -0.01296300 0.13275940
+v 0.02104365 -0.00068920 0.13370053
+v 0.02104365 -0.00134130 0.13400556
+v 0.02104365 -0.00480512 0.13562081
+v 0.02709802 -0.00678255 0.13565547
+v 0.03181728 -0.00211221 0.13436691
+v 0.03181728 -0.02276829 0.12688929
+v 0.02757469 -0.01911177 0.13127670
+v 0.03057498 -0.02369761 0.12688928
+v 0.03064775 -0.02361840 0.12756000
+v 0.02494983 -0.01631592 0.13254622
+v 0.02104365 -0.01284420 0.13283046
+v 0.02104365 -0.00599844 0.13574126
+v 0.02709802 -0.00714952 0.13565546
+v 0.03181728 -0.01306068 0.13342145
+v 0.03181728 -0.02276829 0.12841184
+v 0.03181622 -0.02380849 0.12688928
+v 0.03034824 -0.01947610 0.13163632
+v 0.03181622 -0.02371081 0.12762933
+v 0.02902052 -0.01751716 0.13258435
+v 0.02494983 -0.01306068 0.13444919
+v 0.02104365 -0.00877318 0.13512339
+v 0.02480746 -0.00869134 0.13542669
+v 0.02609827 -0.00714952 0.13565546
+v 0.02910805 -0.01306068 0.13428108
+v 0.03181728 -0.01742476 0.13233131
+v 0.03181728 -0.01947610 0.13163632
+f 1 2 3
+f 1 3 6
+f 1 6 15
+f 1 15 22
+f 1 22 33
+f 1 33 43
+f 1 43 34
+f 1 34 25
+f 1 25 24
+f 1 24 23
+f 1 23 16
+f 1 16 7
+f 1 7 4
+f 1 4 12
+f 1 12 18
+f 1 18 28
+f 1 28 38
+f 1 38 30
+f 1 30 21
+f 1 21 14
+f 1 14 5
+f 1 5 2
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+f 4 7 8
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+f 4 10 11
+f 4 11 12
+f 5 13 6
+f 5 14 13
+f 6 13 15
+f 7 16 8
+f 8 16 17
+f 8 17 10
+f 8 10 9
+f 10 17 27
+f 10 27 36
+f 10 36 47
+f 10 47 48
+f 10 48 37
+f 10 37 28
+f 10 28 18
+f 10 18 11
+f 11 18 12
+f 13 14 19
+f 13 19 20
+f 13 20 15
+f 14 21 19
+f 15 20 22
+f 16 23 17
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 27
+f 19 29 20
+f 19 21 30
+f 19 30 31
+f 19 31 29
+f 20 29 32
+f 20 32 33
+f 20 33 22
+f 25 34 26
+f 26 34 35
+f 26 35 27
+f 27 35 36
+f 28 37 38
+f 29 31 39
+f 29 39 32
+f 30 38 31
+f 31 38 40
+f 31 40 39
+f 32 39 41
+f 32 41 42
+f 32 42 33
+f 33 42 43
+f 34 43 44
+f 34 44 45
+f 34 45 35
+f 35 45 44
+f 35 44 46
+f 35 46 36
+f 36 46 47
+f 37 40 38
+f 37 48 40
+f 39 48 41
+f 39 40 48
+f 41 48 46
+f 41 46 42
+f 42 46 44
+f 42 44 43
+f 46 48 47
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_79.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1706ff27842059ab8e789960dcfe64340d4e7a48
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_79.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.02104365 0.01158194 0.15529864
+v 0.02104365 0.01158196 0.14850438
+v 0.01648271 0.01158194 0.15529864
+v 0.02104365 -0.00087874 0.15529860
+v 0.01906681 0.00262678 0.13694766
+v 0.01833876 0.00513188 0.13694767
+v 0.01438180 0.01158201 0.13694769
+v 0.02104365 0.00351154 0.14896245
+v 0.01917945 -0.00154369 0.13694764
+v 0.00436862 0.01158194 0.15454771
+v 0.00436862 0.00756364 0.15529863
+v 0.02104365 -0.00112108 0.15487463
+v 0.01937697 -0.01720556 0.15529854
+v 0.00436862 0.01158201 0.13694769
+v 0.02104365 -0.00067865 0.14999721
+v 0.01895744 -0.00820798 0.13694762
+v 0.00436862 -0.01720556 0.15529854
+v 0.02104365 -0.00119998 0.15433928
+v 0.01586403 -0.01720551 0.14176572
+v 0.00436862 -0.01720549 0.13694759
+v 0.01505109 -0.01720550 0.13908359
+v 0.01641252 -0.01254752 0.13694760
+v 0.00796155 -0.01720549 0.13694759
+v 0.01247026 -0.01720550 0.13817817
+v 0.01247026 -0.01563029 0.13694759
+v 0.01315260 -0.01532314 0.13694759
+v 0.01603217 -0.01302657 0.13694760
+f 1 2 7
+f 1 7 14
+f 1 14 10
+f 1 10 3
+f 1 3 11
+f 1 11 17
+f 1 17 13
+f 1 13 4
+f 1 4 12
+f 1 12 18
+f 1 18 15
+f 1 15 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 8 9
+f 2 9 5
+f 3 10 11
+f 4 13 12
+f 5 9 16
+f 5 16 22
+f 5 22 27
+f 5 27 26
+f 5 26 25
+f 5 25 23
+f 5 23 20
+f 5 20 14
+f 5 14 7
+f 5 7 6
+f 8 15 16
+f 8 16 9
+f 10 14 20
+f 10 20 17
+f 10 17 11
+f 12 13 18
+f 13 17 20
+f 13 20 23
+f 13 23 24
+f 13 24 21
+f 13 21 19
+f 13 19 16
+f 13 16 15
+f 13 15 18
+f 16 19 21
+f 16 21 22
+f 21 24 25
+f 21 25 26
+f 21 26 27
+f 21 27 22
+f 23 25 24
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_8.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69e86270fb15f39bcff44b30baf68a358532afb6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_8.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.01247116 -0.01306465 0.17386631
+v 0.00897276 -0.01306465 0.17336462
+v 0.00968456 -0.01556742 0.17304288
+v 0.01247116 -0.01564135 0.17311014
+v 0.01482305 -0.01537026 0.17291928
+v 0.01522831 -0.01306465 0.17322648
+v 0.01518155 -0.01013471 0.17319740
+v 0.01247116 -0.00942003 0.17347916
+v 0.00920656 -0.00975957 0.17325921
+v 0.00697937 -0.01275248 0.17047631
+v 0.00369572 -0.02015942 0.16088249
+v 0.00369572 -0.02213097 0.15958829
+v 0.00369572 -0.02238015 0.15941743
+v 0.00369572 -0.02501160 0.15757791
+v 0.01779669 -0.02832489 0.15681083
+v 0.01930515 -0.02832489 0.15681083
+v 0.01975891 -0.02545246 0.15740704
+v 0.01629861 -0.01306464 0.17065989
+v 0.02057289 -0.00035086 0.15784156
+v 0.01723209 -0.00035089 0.16653196
+v 0.01588989 -0.00035090 0.16901312
+v 0.01575134 -0.00035090 0.16924215
+v 0.01247116 -0.00035090 0.16982017
+v 0.00966551 -0.00035090 0.16924215
+v 0.00939361 -0.00035090 0.16917307
+v 0.00369572 -0.00035088 0.16261120
+v 0.00369572 -0.00041660 0.16263664
+v 0.00369572 -0.00065483 0.16272753
+v 0.00618963 -0.01092331 0.16897854
+v 0.00369572 -0.01369989 0.16300376
+v 0.00369572 -0.01763475 0.16179499
+v 0.00618963 -0.01116428 0.16897854
+v 0.00369572 -0.02501982 0.15709803
+v 0.01779669 -0.02832488 0.15537848
+v 0.01930515 -0.02832488 0.15537848
+v 0.01940214 -0.02771425 0.15529851
+v 0.01988187 -0.01719114 0.15827775
+v 0.01965673 -0.02102196 0.15846132
+v 0.01975891 -0.02545245 0.15529852
+v 0.02138861 -0.00035085 0.15529861
+v 0.00369572 -0.00035085 0.15529861
+v 0.00369572 -0.00094509 0.16275298
+v 0.00369572 -0.00480329 0.16308377
+v 0.00369572 -0.00911604 0.16333824
+v 0.00369572 -0.02501981 0.15529852
+v 0.01759579 -0.02787581 0.15529851
+v 0.01887045 -0.02787581 0.15529851
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 2 10 3
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 4
+f 4 15 16
+f 4 16 5
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 7
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 8
+f 7 18 19
+f 8 22 23
+f 8 23 9
+f 9 23 24
+f 9 24 25
+f 9 25 26
+f 9 26 27
+f 9 27 28
+f 9 28 29
+f 9 29 10
+f 10 30 31
+f 10 31 11
+f 10 29 32
+f 10 32 30
+f 11 31 30
+f 11 30 44
+f 11 44 43
+f 11 43 42
+f 11 42 28
+f 11 28 27
+f 11 27 26
+f 11 26 41
+f 11 41 45
+f 11 45 33
+f 11 33 14
+f 11 14 13
+f 11 13 12
+f 14 33 15
+f 15 33 45
+f 15 45 34
+f 15 34 35
+f 15 35 16
+f 16 35 36
+f 16 36 17
+f 17 37 38
+f 17 38 18
+f 17 36 39
+f 17 39 40
+f 17 40 37
+f 18 38 37
+f 18 37 40
+f 18 40 19
+f 19 40 41
+f 19 41 26
+f 19 26 25
+f 19 25 24
+f 19 24 23
+f 19 23 22
+f 19 22 21
+f 19 21 20
+f 28 42 29
+f 29 42 43
+f 29 43 44
+f 29 44 32
+f 30 32 44
+f 34 46 47
+f 34 47 35
+f 34 45 46
+f 35 47 36
+f 36 47 46
+f 36 46 45
+f 36 45 41
+f 36 41 40
+f 36 40 39
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_80.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af28a342431783691ffeaf18dd3d16a683b3a818
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_80.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.00436862 0.01158201 0.13694769
+v 0.00436862 0.02815198 0.13694775
+v 0.01438180 0.01158201 0.13694769
+v 0.00436862 0.01158194 0.15454771
+v 0.02104365 0.02923371 0.13896160
+v 0.00830599 0.02803274 0.13694775
+v 0.00436862 0.02923370 0.14222219
+v 0.01795841 0.01975381 0.13694772
+v 0.02104365 0.02102217 0.13891486
+v 0.02104365 0.01158196 0.14850438
+v 0.01648271 0.01158194 0.15529864
+v 0.00565006 0.01755570 0.15529866
+v 0.00459390 0.02063676 0.15529868
+v 0.00436862 0.01192063 0.15456568
+v 0.02104365 0.02409458 0.13844060
+v 0.01705079 0.02433306 0.13694774
+v 0.01678471 0.02450413 0.13694774
+v 0.01274287 0.02673500 0.13694775
+v 0.01202134 0.02700630 0.13694775
+v 0.02104365 0.02923369 0.14428275
+v 0.00436862 0.02923368 0.14780563
+v 0.02104365 0.01158194 0.15529864
+v 0.00459390 0.02095126 0.15529868
+v 0.00436862 0.02049852 0.15482620
+v 0.02104202 0.02923368 0.14629300
+v 0.02104365 0.02846298 0.14606304
+v 0.00436862 0.02827980 0.14901285
+v 0.00898997 0.02719286 0.15529870
+v 0.01247026 0.02797738 0.15529870
+v 0.00832558 0.02923367 0.14975121
+v 0.02104365 0.01762828 0.15529866
+v 0.00436862 0.02066959 0.15482620
+v 0.00536602 0.02301796 0.15529868
+v 0.00436862 0.02282271 0.15359742
+v 0.01590321 0.02923367 0.14977277
+v 0.01451566 0.02728444 0.15529870
+v 0.01537594 0.02696303 0.15529870
+v 0.01711772 0.02411180 0.15529869
+v 0.00691028 0.02508295 0.15529869
+v 0.00748978 0.02579143 0.15529869
+v 0.01247026 0.02923367 0.15071591
+v 0.00932624 0.02923367 0.15001529
+v 0.01279347 0.02923367 0.15065304
+f 1 2 6
+f 1 6 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 8
+f 1 8 3
+f 1 3 10
+f 1 10 22
+f 1 22 11
+f 1 11 4
+f 1 4 14
+f 1 14 24
+f 1 24 32
+f 1 32 34
+f 1 34 27
+f 1 27 21
+f 1 21 7
+f 1 7 2
+f 2 5 6
+f 2 7 5
+f 3 8 9
+f 3 9 10
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 5 7 21
+f 5 21 30
+f 5 30 42
+f 5 42 41
+f 5 41 43
+f 5 43 35
+f 5 35 25
+f 5 25 20
+f 5 20 26
+f 5 26 31
+f 5 31 22
+f 5 22 10
+f 5 10 9
+f 5 9 15
+f 8 16 15
+f 8 15 9
+f 11 22 31
+f 11 31 38
+f 11 38 37
+f 11 37 36
+f 11 36 29
+f 11 29 28
+f 11 28 40
+f 11 40 39
+f 11 39 33
+f 11 33 23
+f 11 23 13
+f 11 13 12
+f 13 23 32
+f 13 32 24
+f 13 24 14
+f 20 25 26
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 23 33 34
+f 23 34 32
+f 25 35 29
+f 25 29 36
+f 25 36 37
+f 25 37 38
+f 25 38 31
+f 25 31 26
+f 27 34 33
+f 27 33 39
+f 27 39 40
+f 27 40 28
+f 29 41 42
+f 29 42 30
+f 29 35 43
+f 29 43 41
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_81.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4faf55ff59fe3a249018ace62ddc84747a6ffb11
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_81.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.04533479 -0.01264135 0.13616614
+v 0.04432348 -0.01263793 0.12688932
+v 0.04553351 -0.01264135 0.13616973
+v 0.04432348 -0.01264135 0.13641033
+v 0.04432348 -0.00111114 0.12688937
+v 0.04489550 -0.01217293 0.12688933
+v 0.04993573 -0.01264136 0.13762050
+v 0.04977747 -0.01264136 0.13754869
+v 0.04432348 -0.01264136 0.13911676
+v 0.05004361 -0.00111114 0.12688937
+v 0.04432348 -0.00111118 0.13911681
+v 0.04925017 -0.00818093 0.12688934
+v 0.05050065 -0.01264136 0.13911676
+v 0.05154319 -0.00471376 0.12688935
+v 0.05008335 -0.00111115 0.12940668
+v 0.04563003 -0.00111118 0.13911681
+v 0.05157300 -0.00480179 0.12688935
+f 1 2 3
+f 1 3 8
+f 1 8 7
+f 1 7 13
+f 1 13 9
+f 1 9 4
+f 1 4 2
+f 2 5 10
+f 2 10 14
+f 2 14 17
+f 2 17 12
+f 2 12 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 4 9
+f 2 9 11
+f 2 11 5
+f 5 11 16
+f 5 16 15
+f 5 15 10
+f 6 12 7
+f 7 12 13
+f 9 13 16
+f 9 16 11
+f 10 15 14
+f 12 17 13
+f 13 17 15
+f 13 15 16
+f 14 15 17
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_82.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..232e6cc124d5d1386ab4940b83383faac39f6043
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_82.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02452284 -0.04526431 0.09176193
+v 0.02452284 -0.04526431 0.09276193
+v 0.02452284 -0.04426431 0.09176193
+v 0.02452284 -0.04426431 0.09276193
+v 0.02552284 -0.04526431 0.09176193
+v 0.02552284 -0.04526431 0.09276193
+v 0.02552284 -0.04426431 0.09176193
+v 0.02552284 -0.04426431 0.09276193
+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/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_83.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3ab76e48f0f409ebd86cb6e0ed94d09417d1ac7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_83.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.03706135 0.00695685 0.14159708
+v 0.03674917 0.00691844 0.14159708
+v 0.04123479 0.00653429 0.14159707
+v 0.04432270 0.01408284 0.13580529
+v 0.03742792 0.02138649 0.13093348
+v 0.03626986 0.00682721 0.14159708
+v 0.03626986 0.02075265 0.13129340
+v 0.04432270 0.00422460 0.14159707
+v 0.04432270 0.02314399 0.12822834
+v 0.04158717 0.02357615 0.12853931
+v 0.03742792 0.02377303 0.12887044
+v 0.03626986 -0.01592402 0.14159699
+v 0.03626986 0.02349932 0.12873367
+v 0.04432270 -0.01861306 0.14159698
+v 0.04432270 0.02361937 0.12745092
+v 0.04362896 0.02411876 0.12689089
+v 0.04167547 0.02448371 0.12689089
+v 0.04004046 0.02463737 0.12689089
+v 0.03626986 0.02370100 0.12689089
+v 0.03626986 -0.01627936 0.14109310
+v 0.03904480 -0.01961664 0.14006372
+v 0.03773379 -0.01699003 0.14159699
+v 0.04145631 -0.01824332 0.14159698
+v 0.04432270 -0.02030332 0.14051578
+v 0.04432270 0.02396030 0.12689089
+v 0.03626986 -0.02433683 0.12689071
+v 0.04334516 -0.02366460 0.13612621
+v 0.04432270 -0.02391910 0.13635223
+v 0.04158717 -0.02013525 0.14038333
+v 0.04432270 -0.01263469 0.12689075
+v 0.03691393 -0.02441846 0.12689071
+v 0.04432270 -0.02391910 0.13582243
+v 0.04432270 -0.02385187 0.13469949
+v 0.04076336 -0.02102835 0.12689072
+v 0.03871370 -0.02370299 0.12689071
+v 0.03983549 -0.02265138 0.12689072
+f 1 2 6
+f 1 6 12
+f 1 12 22
+f 1 22 23
+f 1 23 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 4
+f 4 9 10
+f 4 10 5
+f 4 8 14
+f 4 14 24
+f 4 24 28
+f 4 28 32
+f 4 32 33
+f 4 33 30
+f 4 30 25
+f 4 25 15
+f 4 15 9
+f 5 10 11
+f 5 11 7
+f 6 7 13
+f 6 13 19
+f 6 19 26
+f 6 26 20
+f 6 20 12
+f 7 11 13
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 11 19 13
+f 12 20 21
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+f 14 23 24
+f 15 25 16
+f 16 25 30
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+f 16 35 31
+f 16 31 26
+f 16 26 19
+f 16 19 18
+f 16 18 17
+f 20 26 21
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+f 21 28 29
+f 21 29 22
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+f 23 29 24
+f 24 29 28
+f 26 31 28
+f 26 28 27
+f 28 31 32
+f 30 33 34
+f 31 35 33
+f 31 33 32
+f 33 35 36
+f 33 36 34
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_84.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1c047df28d06d4ca5c1da451d2923b0aaa2c2c8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_84.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00395553 -0.01719190 0.11951067
+v 0.00395553 -0.01719193 0.12688930
+v 0.00395553 -0.01576560 0.11802088
+v 0.02739881 -0.01719190 0.11957665
+v 0.02739881 -0.01719193 0.12688930
+v 0.00395553 -0.01029691 0.12688932
+v 0.01619120 -0.01153702 0.11802090
+v 0.00395553 -0.00604817 0.11802092
+v 0.01830697 -0.01045535 0.11802090
+v 0.02739881 -0.01676930 0.11952456
+v 0.02739881 0.00183038 0.12688937
+v 0.00720262 0.00344786 0.12688937
+v 0.00692725 0.00344790 0.11802095
+v 0.01876592 -0.00969818 0.11802090
+v 0.01965629 -0.00816875 0.11802091
+v 0.02390389 0.00016012 0.11802094
+v 0.02390389 0.00246433 0.11802095
+v 0.02739881 -0.01306143 0.11996907
+v 0.02739881 0.00183291 0.12627470
+v 0.01617973 0.00729659 0.12688939
+v 0.00805627 0.00508043 0.12688938
+v 0.00844868 0.00734443 0.11802097
+v 0.01575060 0.00652437 0.11802096
+v 0.02739881 -0.01184392 0.12030420
+v 0.01229010 0.00808147 0.11802097
+v 0.01385972 0.00806131 0.12688939
+v 0.00916464 0.00698215 0.12688939
+v 0.01247139 0.00850656 0.12688939
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+f 2 26 28
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+f 2 21 12
+f 2 12 6
+f 3 7 4
+f 3 8 13
+f 3 13 22
+f 3 22 25
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+f 3 23 17
+f 3 17 16
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+f 3 15 14
+f 3 14 9
+f 3 9 7
+f 4 7 9
+f 4 9 10
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+f 4 18 24
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+f 4 19 11
+f 4 11 5
+f 6 12 8
+f 8 12 13
+f 9 14 10
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+f 10 15 16
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+f 17 24 18
+f 19 23 20
+f 20 23 25
+f 20 25 26
+f 21 27 22
+f 22 27 28
+f 22 28 25
+f 25 28 26
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_85.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..142da1145244132964d9a4de72cb24d02fc0dbcb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_85.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.01664739 0.01913125 0.12688944
+v -0.01841348 0.01968073 0.12688944
+v -0.01883759 0.02606124 0.11897222
+v -0.01851427 0.02606124 0.11897222
+v -0.01362927 0.02094894 0.12627404
+v -0.01338982 0.02069544 0.12688945
+v -0.02027292 0.02063624 0.12688945
+v -0.02004971 0.02093680 0.12616399
+v -0.01935842 0.02523171 0.12112843
+v -0.01883759 0.02638000 0.11897222
+v -0.01851427 0.02638000 0.11897222
+v -0.01447139 0.02580774 0.12298470
+v -0.01336344 0.02245772 0.12688945
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+v -0.02000777 0.02383902 0.12497505
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+v -0.01693554 0.02681867 0.12141676
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+v -0.01892890 0.02634582 0.12688947
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+v -0.01681852 0.02672303 0.12525254
+v -0.01554620 0.02603313 0.12662672
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+v -0.01797314 0.02633595 0.12688947
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+f 1 21 14
+f 1 14 7
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_86.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d37b4f6f1e509a2bfc672e819fc120652e061b1c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_86.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.02359403 -0.01992872 0.12688930
+v -0.02351180 -0.02153746 0.12540809
+v -0.02355180 -0.02143935 0.12688929
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+v -0.02313287 -0.02305721 0.12287611
+v -0.02313287 -0.02413655 0.12287610
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+v -0.02346846 -0.02308917 0.12688929
+v -0.02063708 -0.00893218 0.12688934
+v -0.01976922 -0.00115540 0.12107002
+v -0.01983811 -0.00115540 0.11873285
+v -0.02076154 -0.01090829 0.11873281
+v -0.01224294 -0.01598327 0.11873279
+v -0.02169051 -0.02413655 0.12287610
+v -0.02050484 -0.02446744 0.12489626
+v -0.02025149 -0.01235274 0.11873280
+v -0.01890580 -0.01322900 0.11873280
+v -0.02207944 -0.02423697 0.12688928
+v -0.02331734 -0.02402704 0.12688928
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+v -0.01224294 -0.00115540 0.11873285
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+v -0.01810573 -0.02396998 0.12603330
+v -0.01909471 -0.02417536 0.12688928
+v -0.02067153 -0.02430543 0.12688928
+v -0.01224294 -0.00115543 0.12688937
+v -0.01224294 -0.01629134 0.12532428
+v -0.01810573 -0.02396999 0.12688928
+v -0.01224294 -0.01588289 0.12688931
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+f 1 30 31
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+f 17 27 20
+f 24 29 30
+f 24 30 25
+f 25 30 26
+f 29 31 30
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_87.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26fd7877147073c417fc1934d3ffab2bf48264dd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_87.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.00395553 -0.01030021 0.12688933
+v 0.00395553 -0.00539948 0.11692780
+v -0.00417401 -0.00651759 0.11965291
+v -0.00417401 -0.01159414 0.12688933
+v 0.00395553 -0.02114079 0.12688929
+v 0.00395553 -0.00479083 0.11335147
+v -0.00417401 -0.00651758 0.11809070
+v -0.00417401 -0.02396308 0.12688928
+v -0.00085805 -0.02437786 0.12688928
+v 0.00395553 -0.02176070 0.12687954
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+v -0.00417401 -0.00965542 0.10699351
+v -0.00417401 -0.02430121 0.12688343
+v -0.00416844 -0.02430346 0.12688928
+v 0.00348921 -0.02781778 0.12264675
+v 0.00395553 -0.02781778 0.12259220
+v 0.00395553 -0.02643143 0.12372588
+v 0.00395553 -0.02566275 0.12432584
+v 0.00395553 -0.00762663 0.10879922
+v 0.00395553 -0.01054809 0.10699156
+v -0.00416844 -0.00965993 0.10699156
+v -0.00417401 -0.00967571 0.10699156
+v -0.00417401 -0.02648102 0.12074365
+v -0.00377374 -0.02781777 0.11930026
+v -0.00344588 -0.02781777 0.12050796
+v -0.00139201 -0.02781778 0.12165527
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+v 0.00395553 -0.02781775 0.11406626
+v 0.00395553 -0.01445692 0.10699155
+v -0.00417401 -0.02285617 0.10699152
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+v 0.00237992 -0.02781775 0.11349553
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+v 0.00225339 -0.01881660 0.10699153
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+v -0.00254269 -0.02781775 0.11429416
+v -0.00324137 -0.02781775 0.11500904
+v -0.00291431 -0.02238053 0.10699152
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+f 30 37 32
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+f 30 38 39
+f 30 39 40
+f 30 40 31
+f 32 37 41
+f 32 41 33
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_88.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1efe047f08ab7980d2b47f8938c6a0c130f39bb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_88.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.04247651 0.00986683 0.14085428
+v -0.04166622 0.00986683 0.14056409
+v -0.04247651 0.00986682 0.14383241
+v -0.04247651 0.02027402 0.13774324
+v -0.03960558 0.03023896 0.12727036
+v -0.02463798 0.00986685 0.13727793
+v -0.02463798 0.00986682 0.14383241
+v -0.04247651 0.02177062 0.14383245
+v -0.04247651 0.02326097 0.13775460
+v -0.03960558 0.03065189 0.12727036
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+v -0.02463798 0.01119578 0.13658405
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+v -0.02746351 0.03063300 0.13587080
+v -0.03744540 0.03126393 0.13304668
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+v -0.04247651 0.02323792 0.13877110
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+v -0.02463798 0.02805058 0.13760546
+v -0.02688897 0.03042970 0.13137685
+v -0.02463798 0.02798562 0.13355086
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+f 18 22 21
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+f 22 32 35
+f 22 35 23
+f 24 35 36
+f 24 36 25
+f 27 28 29
+f 31 36 35
+f 31 35 32
+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_89.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55ac4b95134b74833642998c741ccc9461b99394
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_89.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.03742792 -0.00480044 0.15462717
+v 0.03626986 -0.00480044 0.15449325
+v 0.03742792 -0.00892989 0.15402387
+v 0.04158717 -0.00892988 0.15378790
+v 0.04158717 -0.00480044 0.15433126
+v 0.03626986 0.01048263 0.15149724
+v 0.03626986 -0.00895441 0.15378790
+v 0.03626986 -0.00994793 0.15339250
+v 0.03626986 -0.01170602 0.15264125
+v 0.03742792 -0.01190636 0.15275094
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+v 0.04432270 -0.00892988 0.15342823
+v 0.04432270 -0.00480044 0.15384531
+v 0.03742792 0.01585093 0.14994119
+v 0.03626986 0.01457939 0.15041948
+v 0.03626986 -0.01592129 0.14159826
+v 0.03773379 -0.01699249 0.14159826
+v 0.04245434 -0.01571689 0.14883907
+v 0.04432270 -0.01601536 0.14907503
+v 0.04432270 -0.01389748 0.15094360
+v 0.04432270 -0.00295648 0.15327901
+v 0.04071449 0.01870066 0.14839279
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+v 0.03626986 0.00682750 0.14159835
+v 0.04145631 -0.01824360 0.14159825
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+v 0.04432270 0.02250714 0.14519266
+v 0.04432270 0.02314087 0.14474116
+v 0.04158717 0.02315313 0.14497967
+v 0.03626986 0.01858618 0.14845529
+v 0.03626986 0.01585095 0.14425007
+v 0.03823597 0.01998040 0.14322588
+v 0.04158717 0.01998041 0.14176038
+v 0.03674917 0.00691744 0.14159835
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+v 0.04432270 0.02314088 0.14267235
+v 0.04158717 0.02315314 0.14264429
+v 0.03905820 0.02242945 0.14450519
+v 0.03626986 0.01924036 0.14672958
+v 0.03626986 0.01924036 0.14608165
+v 0.03905820 0.02242945 0.14340191
+v 0.04432270 0.01998041 0.14220424
+v 0.04123479 0.00653312 0.14159834
+v 0.03706135 0.00695424 0.14159835
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_9.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..091d910a5c157088543065d98b8bb865373a70f6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_9.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_90.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..733ade0681bab67b3b064f270268c865e0630203
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_90.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.02105100 0.01985961 0.15202649
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_91.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a6d323e1b09c32aeca7822795588ee0c3c24491
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_91.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.03626942 -0.00480062 0.15449449
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+
diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_92.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19968aaa84cbfbec58fcd2188d311795da1d4755
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_92.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.02104365 -0.02790442 0.14530652
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diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_93.obj b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_collision_93.obj
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diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/mjcf/mesh/houseplant_015_geometry_Looks_material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/textures/material_0.png b/dataset/livingroom_supplies/ornaments/7b18af52198250ada1ad82ac8d45c07c/textures/material_0.png
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