diff --git a/.gitattributes b/.gitattributes
index f24cb8e5538b7743acd2d6c58a5b6dae7b4e3e80..001b15b146c99a2943b130ccc6744f875dffa994 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4937,3 +4937,5 @@ dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh
 dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/photo_frame_022.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/544a9e90a91959c2b5ff6b03d5082e22/diffuser_bottle_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/544a9e90a91959c2b5ff6b03d5082e22/mesh/diffuser_bottle_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/houseplant_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mesh/houseplant_017.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/houseplant_017.urdf b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/houseplant_017.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..933766f4d7de3219112cb796ce4e8329bafac105
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/houseplant_017.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="houseplant_017">
+   <link name="houseplant_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/houseplant_017.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_017_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.6000" />
+         <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>4c271c93514c57cbbc5a380c555b53f7</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>houseplant</category>
+         <name>potted orchid</name>
+         <color>green,brown</color>
+         <shape>irregular</shape>
+         <material>organic</material>
+         <description>purple flowering orchid in a brown decorative pot with saucer</description>
+         <min_height>0.2500</min_height>
+         <max_height>0.2500</max_height>
+         <real_height>0.2500</real_height>
+         <min_mass>1.0</min_mass>
+         <max_mass>2.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518195949</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059197 -0.106181 -0.055167</min>
+            <max>0.060425 0.100099 0.194833</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/4c271c93514c57cbbc5a380c555b53f7/houseplant_017.usd b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/houseplant_017.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d87f45c8a6b05df93bd290dbd79c0d790bc2f22d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/houseplant_017.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48ef1e563e5c14260b77784633952d779448d0288d028f1288f3a7892fc330a3
+size 5030083
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mesh/houseplant_017.glb b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mesh/houseplant_017.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7d0375ec3b16314507a40afe68f19d23a94a3d85
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mesh/houseplant_017.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1dcbdfaf095797dc0102f797a42e8a1888dc625658c88a073bda17652914f11
+size 16049464
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mesh/houseplant_017.mtl b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mesh/houseplant_017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba95a681487281de4a9231b4e6f69065745391ce
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mesh/houseplant_017.mtl
@@ -0,0 +1,6 @@
+newmtl houseplant_017_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/4c271c93514c57cbbc5a380c555b53f7/mesh/houseplant_017.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mesh/houseplant_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3ae411330ad17da6bdb421aab997bbf611f8d18
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mesh/houseplant_017.obj
@@ -0,0 +1,117400 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl houseplant_017_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mesh/houseplant_017_collision.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mesh/houseplant_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb632f118702fbb57de624ddf25fdaa580f1b7f2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mesh/houseplant_017_collision.obj
@@ -0,0 +1,15881 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mesh/material.mtl
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+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mesh/material.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mesh/material_0.png
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+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73f3f7da599c6813706c5bb418b7a161e8eb7646
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017.obj
@@ -0,0 +1,117400 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl houseplant_017_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d9cb3361c84174bf305fe21b5d0a9727dd2a164
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision.obj
@@ -0,0 +1,15881 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_0.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b0acfabfafcaedc24834e715d853a2731062367
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_1.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e14a7fcf959ed190375c6e38abe92db03ebe606e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_1.obj
@@ -0,0 +1,1228 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_10.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..793402d5896ac352d3583ca5c52da859a7575e1b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_10.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.00674808 -0.04369967 0.08657352
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_11.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34b0cbce8983abce76c7c816ccc7a14d8112cdb2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_11.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.00166480 -0.06003024 -0.04446130
+v 0.00267329 -0.06004154 -0.04446130
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_12.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f75566f4ee5bcdb713ecd0aa6f0b3d697692631
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_12.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_13.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f8a5400d66b5347f56cdd3e32b208bba73b1b0c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_13.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_14.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc54d77a701b568b9d8baa0aa47c31c144e492a4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_14.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.01270248 -0.03034638 0.08517512
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_15.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bac1a5dd93d59dda1cf3d5abdf05615b34c01885
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_15.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_16.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd8558fb43fb387bd5a7b82cb94ca4696e681347
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_16.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_17.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34ff8ccd6586103a767be5d09f576b50f8f2f432
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_17.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_18.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5078e6296f8a8747067b6748550dc26574619a2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_18.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_19.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7446cfc3131138e6cc76ac5e207a81d1eb22a78
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_19.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_2.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..776205e8a5e303b166da75c4ae59eaeed3d3bbd2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_2.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_20.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b13f7a32d2e40bf023a21bb762802411559b18a8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_20.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_21.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..544b36a64a0d7d4bcfd74d431af7410d9208cc97
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_21.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_22.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8eadafd380b407a19cabb8b79295f7a1d898ed4a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_22.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_23.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..904919bdc5817f8e10e76cbeb7931fd6f0a07d42
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_23.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_24.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edcece700410638b76a3e30d2bcf745c622b8b68
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_24.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_25.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de9c67dcbce5da1ff86595d58433044f24873553
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_25.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_26.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b1b0b3e3e933753ec03a98588b8e9d0a17d1343
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_26.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.00543849 -0.04369968 0.08856473
+v 0.00542126 -0.04369967 0.08819710
+v 0.00509623 -0.04369969 0.09193881
+v 0.00483768 -0.04940662 0.09460253
+v 0.00483768 -0.04940662 0.09394516
+v 0.00285057 -0.04369966 0.08517507
+v 0.00513316 -0.04568591 0.08920651
+v 0.00507161 -0.04369969 0.09216001
+v 0.00276932 -0.05256740 0.09716346
+v 0.00482291 -0.04709486 0.09452154
+v 0.00176714 -0.05256741 0.10109210
+v 0.00201338 -0.05256741 0.10032880
+v 0.00254524 -0.05256739 0.09624127
+v 0.00267082 -0.05035805 0.09305102
+v 0.00267082 -0.04387242 0.08517507
+v -0.00311076 -0.04369966 0.08517507
+v 0.00501990 -0.04369969 0.09243729
+v 0.00474904 -0.04497669 0.09423803
+v 0.00123774 -0.05256741 0.10177439
+v -0.00145606 -0.05256738 0.09360556
+v -0.00145606 -0.04408163 0.08517507
+v -0.00558541 -0.05256739 0.09402927
+v -0.00546476 -0.04369966 0.08570470
+v -0.01445969 -0.04369976 0.11035449
+v -0.01545941 -0.04868095 0.11532057
+v -0.01495216 -0.05128788 0.11614928
+v -0.01485121 -0.05256747 0.11652626
+v -0.00986250 -0.05256739 0.09572099
+v -0.00627487 -0.04369967 0.08616891
+v -0.01536337 -0.04369976 0.11035449
+v -0.01506543 -0.04435431 0.11140130
+v -0.01656254 -0.04868095 0.11532057
+v -0.01630891 -0.05256747 0.11700293
+v -0.01240364 -0.05256740 0.09753109
+v -0.00854022 -0.04583088 0.08929686
+v -0.00945622 -0.04369967 0.08844945
+v -0.01665610 -0.04369975 0.11009279
+v -0.01649852 -0.04435431 0.11140130
+v -0.01919232 -0.05256746 0.11547010
+v -0.01852995 -0.05256747 0.11617109
+v -0.01795868 -0.05256747 0.11677549
+v -0.01266711 -0.05128781 0.09710738
+v -0.01140147 -0.04369968 0.09049010
+v -0.01167971 -0.04904809 0.09430656
+v -0.01570318 -0.05256742 0.10252523
+v -0.01078834 -0.04369968 0.08977354
+v -0.01707963 -0.04369975 0.10858489
+v -0.01971680 -0.05256746 0.11428933
+v -0.01257108 -0.04369969 0.09241548
+v -0.01129312 -0.04414242 0.09063964
+v -0.01580413 -0.05256742 0.10270592
+v -0.01812366 -0.04709491 0.10870639
+v -0.01709687 -0.04369973 0.10456590
+v -0.01971680 -0.05256746 0.11409617
+v -0.01434150 -0.04369970 0.09622573
+v -0.01663148 -0.05256742 0.10460014
+v -0.01601836 -0.04991276 0.10224484
+v -0.01632123 -0.04369972 0.10119494
+v -0.01834281 -0.05128785 0.10870637
+v -0.01825663 -0.05256744 0.10870637
+v -0.01560222 -0.04369971 0.09912937
+f 1 2 6
+f 1 6 16
+f 1 16 23
+f 1 23 29
+f 1 29 36
+f 1 36 46
+f 1 46 43
+f 1 43 49
+f 1 49 55
+f 1 55 61
+f 1 61 58
+f 1 58 53
+f 1 53 47
+f 1 47 37
+f 1 37 30
+f 1 30 24
+f 1 24 17
+f 1 17 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 5
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+f 4 12 9
+f 5 9 13
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+f 5 14 7
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+f 6 7 15
+f 7 14 15
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+f 9 33 41
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+f 9 34 28
+f 9 28 22
+f 9 22 20
+f 9 20 13
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 13 20 14
+f 14 20 15
+f 15 20 21
+f 16 21 22
+f 16 22 23
+f 17 24 18
+f 18 24 25
+f 18 25 19
+f 19 25 26
+f 19 26 27
+f 20 22 21
+f 22 28 23
+f 23 28 29
+f 24 30 38
+f 24 38 31
+f 24 31 25
+f 25 31 38
+f 25 38 32
+f 25 32 33
+f 25 33 26
+f 26 33 27
+f 28 34 35
+f 28 35 29
+f 29 35 36
+f 30 37 38
+f 32 39 40
+f 32 40 41
+f 32 41 33
+f 32 38 39
+f 34 42 43
+f 34 43 44
+f 34 44 36
+f 34 36 35
+f 34 45 42
+f 36 44 46
+f 37 47 48
+f 37 48 38
+f 38 48 39
+f 42 45 43
+f 43 46 50
+f 43 50 44
+f 43 45 49
+f 44 50 46
+f 45 51 49
+f 47 52 48
+f 47 53 52
+f 48 52 54
+f 49 51 55
+f 51 56 57
+f 51 57 55
+f 52 53 54
+f 53 58 54
+f 54 58 59
+f 54 59 60
+f 55 57 61
+f 56 61 57
+f 56 60 61
+f 58 61 60
+f 58 60 59
+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_27.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73dd697566c0ffcf9c95a5f0533cdcabcfbafe80
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_27.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00166480 -0.03032007 -0.05707528
+v 0.00166480 -0.02612616 -0.05707139
+v 0.00166480 -0.03451277 -0.05707336
+v -0.00145769 -0.03451277 -0.05707336
+v -0.02622799 -0.02476934 -0.05706946
+v 0.00166480 -0.02476934 -0.05706946
+v 0.00166480 -0.03713442 -0.05706951
+v -0.00145769 -0.03713442 -0.05706951
+v -0.02210064 -0.03451277 -0.05705983
+v -0.02982517 -0.02666840 -0.05706366
+v -0.02982517 -0.02494485 -0.05706559
+v -0.02982517 -0.02476934 -0.05706559
+v 0.00166480 -0.02476941 -0.03731893
+v 0.00166480 -0.03713445 -0.04830632
+v -0.01539021 -0.03713442 -0.05705790
+v -0.01951757 -0.03713442 -0.05704437
+v -0.02982517 -0.03086231 -0.05696311
+v -0.02982517 -0.03032007 -0.05698050
+v -0.02982517 -0.02476937 -0.04831981
+v 0.00166480 -0.03712238 -0.03731898
+v -0.02653007 -0.02476941 -0.03731893
+v -0.02982517 -0.03713447 -0.04302249
+v -0.02364801 -0.03713442 -0.05678326
+v -0.02622799 -0.03451277 -0.05692638
+v -0.02982517 -0.03462533 -0.05612181
+v -0.00145769 -0.03707155 -0.03731898
+v -0.02576563 -0.02566750 -0.03731893
+v -0.02142250 -0.02958787 -0.03731895
+v -0.02315790 -0.02811002 -0.03731894
+v -0.02407338 -0.02728092 -0.03731894
+v -0.02982517 -0.03713443 -0.05504262
+v -0.00558504 -0.03657167 -0.03731897
+v -0.00971240 -0.03561185 -0.03731897
+v -0.01378736 -0.03410131 -0.03731897
+v -0.01502957 -0.03347677 -0.03731896
+v -0.01797020 -0.03187667 -0.03731896
+v -0.02778153 -0.03713442 -0.05585878
+v -0.02982517 -0.03524020 -0.05594967
+v -0.02982517 -0.03501386 -0.05601351
+v -0.02982517 -0.03703517 -0.05513159
+v -0.02959399 -0.03713443 -0.05521861
+v -0.02925184 -0.03713443 -0.05542363
+v -0.02982517 -0.03596037 -0.05568665
+v -0.02982517 -0.03691777 -0.05519348
+f 1 2 6
+f 1 6 13
+f 1 13 20
+f 1 20 14
+f 1 14 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 4
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 19
+f 5 19 21
+f 5 21 13
+f 5 13 6
+f 7 14 22
+f 7 22 31
+f 7 31 41
+f 7 41 42
+f 7 42 37
+f 7 37 23
+f 7 23 16
+f 7 16 15
+f 7 15 8
+f 8 15 9
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 9 15 16
+f 10 18 17
+f 10 17 25
+f 10 25 39
+f 10 39 38
+f 10 38 43
+f 10 43 44
+f 10 44 40
+f 10 40 31
+f 10 31 22
+f 10 22 19
+f 10 19 12
+f 10 12 11
+f 13 21 27
+f 13 27 30
+f 13 30 29
+f 13 29 28
+f 13 28 36
+f 13 36 35
+f 13 35 34
+f 13 34 33
+f 13 33 32
+f 13 32 26
+f 13 26 20
+f 14 20 22
+f 16 23 24
+f 16 24 17
+f 17 24 25
+f 19 22 21
+f 20 26 22
+f 21 22 27
+f 22 28 29
+f 22 29 30
+f 22 30 27
+f 22 26 32
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 28
+f 23 37 38
+f 23 38 39
+f 23 39 25
+f 23 25 24
+f 31 40 41
+f 37 42 43
+f 37 43 38
+f 40 44 41
+f 41 44 42
+f 42 44 43
+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_28.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0595006d4c20fcdbdd5c8ea3f251691f3e5904d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_28.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00166480 0.00176641 -0.04437359
+v 0.00166480 -0.02476939 -0.04437369
+v 0.00166480 0.00176646 -0.05706604
+v -0.03179299 0.00176641 -0.04437359
+v 0.00166480 -0.02476934 -0.05706987
+v -0.02110318 -0.02476939 -0.04437369
+v -0.00145906 -0.00096608 -0.05706729
+v -0.03035660 0.00176646 -0.05706604
+v -0.03605783 0.00176643 -0.04861808
+v -0.03605783 -0.02476938 -0.04610505
+v -0.03182991 -0.00096613 -0.04437360
+v 0.00133617 -0.02476934 -0.05706987
+v -0.02622838 -0.01773798 -0.05706985
+v -0.02303806 -0.02282908 -0.04437368
+v -0.03035660 -0.00096608 -0.05706729
+v -0.03304475 0.00176646 -0.05706480
+v -0.03605783 0.00176646 -0.05706232
+v -0.02489539 -0.02073032 -0.04437368
+v -0.02495077 -0.02065239 -0.04437368
+v -0.02692996 -0.01762114 -0.04437366
+v -0.02926731 -0.01351713 -0.04437365
+v -0.02933378 -0.01332232 -0.04437365
+v -0.03067785 -0.00935338 -0.04437363
+v -0.03070370 -0.00925208 -0.04437363
+v -0.03143851 -0.00548574 -0.04437362
+v -0.03605783 -0.02476934 -0.05670944
+v -0.02756507 -0.02476934 -0.05706863
+v -0.02622838 -0.02193030 -0.05706986
+v -0.03035660 -0.01773798 -0.05706985
+v -0.03448482 -0.00515840 -0.05706607
+v -0.03605783 0.00062877 -0.05706358
+v -0.03605783 -0.02453038 -0.05676413
+v -0.03582151 -0.02476934 -0.05678276
+v -0.03035660 -0.02476934 -0.05706490
+v -0.03035660 -0.02193030 -0.05706862
+v -0.03605783 -0.01354305 -0.05706610
+v -0.03605783 -0.00515840 -0.05706483
+v -0.03605783 -0.02033545 -0.05703878
+v -0.03448482 -0.02476934 -0.05694310
+v -0.03169329 -0.02476934 -0.05706242
+v -0.03605783 -0.01614313 -0.05706487
+v -0.03448482 -0.02193030 -0.05705868
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 16
+f 1 16 17
+f 1 17 9
+f 1 9 4
+f 1 4 11
+f 1 11 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 14
+f 1 14 6
+f 1 6 2
+f 2 6 10
+f 2 10 26
+f 2 26 33
+f 2 33 39
+f 2 39 40
+f 2 40 34
+f 2 34 27
+f 2 27 12
+f 2 12 5
+f 3 5 7
+f 3 7 15
+f 3 15 8
+f 4 9 10
+f 4 10 11
+f 5 12 28
+f 5 28 29
+f 5 29 13
+f 5 13 7
+f 6 14 10
+f 7 13 29
+f 7 29 15
+f 8 15 16
+f 9 17 31
+f 9 31 37
+f 9 37 36
+f 9 36 41
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+f 9 32 26
+f 9 26 10
+f 10 14 18
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+f 10 24 25
+f 10 25 11
+f 12 27 28
+f 15 29 30
+f 15 30 31
+f 15 31 16
+f 16 31 17
+f 26 32 33
+f 27 34 35
+f 27 35 29
+f 27 29 28
+f 29 35 36
+f 29 36 30
+f 30 36 37
+f 30 37 31
+f 32 38 33
+f 33 38 39
+f 34 40 35
+f 35 40 41
+f 35 41 36
+f 38 41 42
+f 38 42 39
+f 39 42 40
+f 40 42 41
+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_29.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f84e2f694222362fd4a0a0ca51e39ba81f68c743
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_29.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.00534805 -0.02432332 0.08517514
+v 0.00524030 -0.02432333 0.08727039
+v 0.00534805 -0.02449295 0.08517514
+v -0.00674562 -0.02432332 0.08517514
+v 0.00519768 -0.02432333 0.08800978
+v 0.00519768 -0.02485721 0.08800978
+v 0.00534568 -0.02483639 0.08517514
+v -0.00674562 -0.02432339 0.10263815
+v -0.00674562 -0.03495428 0.08517510
+v 0.00490878 -0.02432334 0.09060436
+v 0.00490878 -0.02451067 0.09060436
+v 0.00074691 -0.03258566 0.10479290
+v 0.00172966 -0.03495428 0.08517510
+v -0.00674562 -0.02533913 0.10479293
+v -0.00596416 -0.02432339 0.10217723
+v -0.00674562 -0.03495431 0.09276679
+v 0.00168703 -0.02432336 0.09567445
+v 0.00114001 -0.02764536 0.10358302
+v 0.00103818 -0.03027735 0.10479291
+v 0.00103937 -0.03030128 0.10479291
+v -0.00145538 -0.03344530 0.10479290
+v -0.00674562 -0.03437987 0.10479289
+v -0.00674562 -0.03455263 0.10311439
+v -0.00674562 -0.03495224 0.09883554
+v -0.00130027 -0.02711980 0.10479292
+v -0.00031634 -0.02432337 0.09842459
+v 0.00011583 -0.02432337 0.09790606
+v -0.00127896 -0.02713021 0.10479292
+v 0.00071850 -0.02819278 0.10479292
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 9
+f 1 9 4
+f 1 4 8
+f 1 8 15
+f 1 15 26
+f 1 26 27
+f 1 27 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 4 9 16
+f 4 16 24
+f 4 24 23
+f 4 23 22
+f 4 22 14
+f 4 14 8
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 8 14 15
+f 9 13 16
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 11 20 12
+f 12 20 19
+f 12 19 29
+f 12 29 28
+f 12 28 25
+f 12 25 14
+f 12 14 22
+f 12 22 21
+f 12 21 13
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 16
+f 14 25 26
+f 14 26 15
+f 17 27 18
+f 18 27 26
+f 18 26 25
+f 18 25 28
+f 18 28 29
+f 18 29 19
+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_3.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd4f0339585e6a76f75afbaac40b62bb135177c4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_3.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.01396889 -0.05287265 0.06731052
+v -0.01320044 -0.06387011 0.07117273
+v -0.01336669 -0.05967667 0.07110786
+v -0.01340364 -0.05548324 0.07082358
+v -0.01322261 -0.05287266 0.07051805
+v -0.01252436 -0.05287264 0.06447694
+v -0.01376570 -0.05548323 0.06731051
+v -0.01301018 -0.06806353 0.06795220
+v -0.01301018 -0.06806354 0.07103469
+v -0.00971287 -0.06387012 0.07229342
+v -0.00971287 -0.06806355 0.07222380
+v -0.00971287 -0.05967667 0.07199026
+v -0.00966854 -0.05287266 0.07059237
+v -0.00971287 -0.05548324 0.07128601
+v -0.00979230 -0.05287263 0.06235235
+v -0.00480293 -0.08483723 0.06031611
+v -0.00452769 -0.08903066 0.06036682
+v -0.00686813 -0.08483724 0.06224724
+v -0.00905710 -0.08064382 0.06407692
+v -0.01271277 -0.07225321 0.06805010
+v -0.01271277 -0.07225322 0.07061943
+v -0.00145759 -0.06387011 0.07162691
+v -0.00145759 -0.06806354 0.07173542
+v -0.00145759 -0.07225322 0.07140981
+v -0.00971287 -0.07225322 0.07167995
+v -0.00145759 -0.05967667 0.07111612
+v 0.00219069 -0.05548324 0.07016178
+v 0.00152014 -0.05287266 0.06976896
+v -0.00757378 -0.05287262 0.06100398
+v -0.00150932 -0.08476972 0.06024297
+v -0.00175500 -0.08898565 0.06028424
+v -0.00693094 -0.05287262 0.06085770
+v -0.00506524 -0.05287262 0.06073974
+v -0.00361886 -0.09118740 0.06098615
+v -0.00767722 -0.08696022 0.06494750
+v -0.00831452 -0.08483725 0.06431639
+v -0.01226944 -0.07574524 0.06853257
+v -0.01226944 -0.07574525 0.07001424
+v 0.00267281 -0.06387011 0.07107010
+v 0.00267281 -0.06806354 0.07121636
+v 0.00267281 -0.07225322 0.07096035
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_30.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..256c4477423608301a37ed859d0835d0f90a43c4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_30.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00285677 -0.04369981 0.12567107
+v 0.00326019 -0.04369981 0.12567107
+v 0.00382935 -0.04545325 0.12676760
+v -0.01384275 -0.04369981 0.12587331
+v 0.00580889 -0.04369981 0.12580317
+v 0.00523661 -0.04545325 0.12676760
+v -0.01384275 -0.04678721 0.13164238
+v -0.01797072 -0.04657355 0.13164238
+v -0.01384275 -0.04591503 0.12981405
+v -0.01384275 -0.04476209 0.12774490
+v -0.01797072 -0.04573612 0.13027113
+v -0.01797072 -0.04444477 0.12820198
+v -0.01808956 -0.04369982 0.12707330
+v 0.00595900 -0.04369981 0.12643561
+v 0.00561501 -0.04598454 0.12940547
+v 0.00260972 -0.04641005 0.13164238
+v -0.02176408 -0.04579082 0.13164238
+v -0.02138568 -0.04538556 0.13087492
+v -0.02414079 -0.04498997 0.13148632
+v -0.02244582 -0.04369982 0.12901445
+v 0.00605595 -0.04369983 0.12940548
+v 0.00605907 -0.04369983 0.13040499
+v 0.00586831 -0.04468897 0.13164239
+v 0.00559312 -0.04610633 0.13164238
+v -0.02398443 -0.04514017 0.13164238
+v -0.02459737 -0.04476633 0.13164239
+v -0.02588892 -0.04369983 0.13164239
+v -0.02488820 -0.04369983 0.13080246
+v -0.02270225 -0.04369982 0.12920149
+v 0.00592148 -0.04369983 0.13164239
+f 1 2 6
+f 1 6 3
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_31.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7325283413ff55ac4cdcb3729fdc89066a0ac1da
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_31.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.00166279 0.06180054 -0.04031961
+v 0.00166279 0.06034924 -0.03790625
+v 0.00166279 0.06178059 -0.04231442
+v 0.00052783 0.06177204 -0.04231442
+v -0.00145960 0.06177203 -0.04031961
+v -0.00145960 0.06033498 -0.03791298
+v 0.00166279 0.05774604 -0.03740503
+v 0.00166279 0.05079182 -0.04231446
+v -0.00145960 0.06175208 -0.04231442
+v -0.00359837 0.06161522 -0.04231442
+v -0.00558580 0.06150687 -0.04031961
+v -0.00558580 0.06020953 -0.03798746
+v -0.00145960 0.05774604 -0.03741560
+v -0.00558580 0.05774604 -0.03748913
+v 0.00166279 0.05702752 -0.03748769
+v -0.01797448 0.05355468 -0.03741610
+v -0.03861050 0.04097490 -0.03750217
+v -0.04222723 0.03267202 -0.03767616
+v 0.00166279 0.05271071 -0.03988186
+v -0.04031041 0.03267202 -0.03811347
+v -0.03847431 0.03267203 -0.04012990
+v -0.03685006 0.03267204 -0.04231453
+v -0.00558580 0.06146696 -0.04231442
+v -0.01384324 0.06036351 -0.04231443
+v -0.01642589 0.06001281 -0.04231443
+v -0.01642589 0.06001280 -0.04183242
+v -0.01384324 0.06036350 -0.04093810
+v -0.01012562 0.06074272 -0.03990634
+v -0.01178014 0.05984172 -0.03825177
+v -0.00902598 0.06002420 -0.03811385
+v -0.01012562 0.05816517 -0.03776690
+v -0.01384324 0.05729554 -0.03776305
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+v -0.01797448 0.05654851 -0.03783033
+v -0.01888749 0.05602102 -0.03780390
+v -0.02246386 0.05393105 -0.03770059
+v -0.02622687 0.04935762 -0.03744543
+v -0.04174803 0.04097490 -0.03796302
+v -0.04312511 0.03716561 -0.03768623
+v -0.04686289 0.03267202 -0.03773143
+v -0.04254502 0.03267202 -0.03767568
+v -0.03448431 0.04516911 -0.03753482
+v -0.03821201 0.04481555 -0.03801540
+v -0.04186404 0.03267202 -0.03774103
+v 0.00166279 0.05429316 -0.03826284
+v -0.04981883 0.03267204 -0.04231453
+v -0.02516253 0.05615505 -0.04231444
+v -0.02516253 0.05615504 -0.04106258
+v -0.02246386 0.05685360 -0.03993758
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+v -0.01888749 0.05641450 -0.03787838
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+v -0.01888244 0.05641450 -0.03787790
+v -0.02622687 0.05280194 -0.03781160
+v -0.03043377 0.04948022 -0.03771262
+v -0.04077953 0.04317893 -0.03818936
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+v -0.04560688 0.03602511 -0.03794815
+v -0.04690325 0.03267202 -0.03773767
+v -0.03448431 0.04795194 -0.03801153
+v -0.03656758 0.04727905 -0.03823980
+v -0.04986927 0.03267203 -0.04041872
+v -0.04914289 0.03499582 -0.04231452
+v -0.03288528 0.05178692 -0.04231446
+v -0.03288528 0.05178691 -0.04153691
+v -0.02641351 0.05492615 -0.03993759
+v -0.03043377 0.05265084 -0.04022210
+v -0.03186130 0.05096003 -0.03877802
+v -0.02910714 0.05192090 -0.03800383
+v -0.03923094 0.04589049 -0.04032015
+v -0.04136970 0.04379766 -0.04032016
+v -0.04367493 0.04100342 -0.03992899
+v -0.04540007 0.03962341 -0.04104822
+v -0.04914289 0.03499581 -0.04177773
+v -0.04836104 0.03398075 -0.03901836
+v -0.04879484 0.03267202 -0.03855655
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+v -0.04979361 0.03267203 -0.04028031
+v -0.04540007 0.03962342 -0.04231450
+v -0.03728387 0.04788353 -0.04231447
+v -0.04144537 0.04387466 -0.04231449
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_32.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d2a965ed01c14ea1d4abee92bd9307ca3520b31
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_32.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00113907 -0.03607778 0.14873601
+v -0.00023433 -0.03590978 0.14873601
+v 0.00149294 -0.03451285 0.14873601
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+v 0.00122490 -0.02532246 0.17908108
+v 0.00089613 -0.02471376 0.18147955
+v -0.00145630 -0.02627638 0.17908107
+v -0.00167656 -0.03544606 0.14873601
+v 0.00155773 -0.03406984 0.14873601
+v 0.00149780 -0.02432365 0.17488295
+v 0.00122490 -0.02432367 0.17908108
+v 0.00156258 -0.03006086 0.14873603
+v 0.00089613 -0.02432368 0.18147955
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+v -0.00145630 -0.02492893 0.18169966
+v -0.00385488 -0.02454461 0.18155399
+v -0.00224584 -0.03486956 0.14873601
+v -0.00420147 -0.02498416 0.17908108
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+v 0.00134961 -0.02942108 0.14873603
+v -0.00390914 -0.02432368 0.18161549
+v -0.00456750 -0.02432367 0.17908108
+v -0.00613686 -0.02432360 0.16065720
+v -0.00224584 -0.03461756 0.14873601
+v -0.00671019 -0.02432362 0.16534732
+v -0.00652394 -0.02432361 0.16252484
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+v -0.00048374 -0.02942108 0.14873603
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+v -0.00397068 -0.02432358 0.15582465
+v -0.00293659 -0.02432358 0.15561102
+f 1 2 8
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+f 1 24 31
+f 1 31 33
+f 1 33 28
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+f 1 20 12
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+f 31 32 33
+f 32 34 33
+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_33.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2476d994f5bb4e7ee264de088820c07e47c158ef
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_33.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.00644899 -0.01398320 0.16298719
+v 0.00644899 -0.01398320 0.16286644
+v 0.00642934 -0.01398321 0.16673046
+v 0.00149689 -0.02432263 0.17488265
+v 0.00106144 -0.02432256 0.15576377
+v 0.00102706 -0.02193281 0.15578545
+v 0.00079460 -0.01922018 0.15606412
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_34.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d40b22fa2c7de97b4d33a55812da479ea1343302
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_34.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_35.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e23b283ec9e67699ad0787fe19451a4b7d881a2c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_35.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_36.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03ad72408638659d0565387fb400afe4de2d5e65
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_36.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_37.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3084c54b91bda104cd0af36674ed3e4e7cbb108
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_37.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_38.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e873fbc399b823f1d6f60cc7a2399b7be7dd75de
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_38.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_39.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34cad33ba0c2d4ac418991409dd925a8a5dcdb89
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_39.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_4.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fbf23b534ee1fb9a0f7a28c4cbb2d9ea50351b2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_4.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_40.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..903c01ed710ab4b02697483131b84288c4827e01
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_40.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_41.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2e90e77a7d1a646406335aaa602e6af3c63b3cc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_41.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_42.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f56cd0ccb3434bc174ddb984c82c2d2b4c532b2a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_42.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_43.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19c6693db840874db02b3d67ce752d2c3aac1938
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_43.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.03217305 -0.03814437 -0.04231306
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+v 0.03217305 -0.05124921 -0.04231311
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_44.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b86650085e31c969b6cd4c23e9332fd7dde1d198
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_44.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.03557594 0.03553512 -0.04333057
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+f 14 41 36
+f 14 36 29
+f 14 29 15
+f 16 30 31
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+f 17 28 33
+f 17 33 18
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+f 29 43 35
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+f 30 38 31
+f 32 40 43
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_45.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa9e4e43d30fe343dfffb62334019b4dee6cdc8f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_45.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00487050 -0.01365135 0.11144570
+v -0.00487050 -0.00360679 0.11144574
+v 0.00005668 -0.01365135 0.11144570
+v -0.00487050 -0.01365137 0.11721636
+v -0.00397072 -0.00286661 0.11144574
+v -0.00487050 -0.00033856 0.12067018
+v 0.00078814 -0.01203416 0.11144571
+v 0.00050974 -0.01365135 0.11207547
+v -0.00142355 -0.01365137 0.11711692
+v -0.00487050 -0.00834771 0.14530732
+v -0.00299485 -0.00286661 0.11144574
+v 0.00101813 -0.00033856 0.12072653
+v -0.00487050 -0.00033861 0.13380249
+v 0.00064404 -0.00730769 0.11144572
+v 0.00090804 -0.01365135 0.11288753
+v 0.00080025 -0.01365135 0.11262237
+v 0.00055297 -0.01365135 0.11215502
+v -0.00132498 -0.01365137 0.11702080
+v -0.00314702 -0.00766487 0.14530732
+v -0.00487050 -0.00072177 0.14530735
+v -0.00077509 -0.00502199 0.11144573
+v 0.00101813 -0.00127551 0.12086574
+v 0.00043019 -0.00679816 0.11144573
+v 0.00101813 -0.00033862 0.13541005
+v -0.00393498 -0.00033862 0.13622544
+v 0.00101813 -0.00506374 0.12539342
+v 0.00101813 -0.00556676 0.12739873
+v 0.00101813 -0.00605415 0.12940404
+v 0.00101813 -0.00513935 0.13358703
+v 0.00077892 -0.01365136 0.11319579
+v -0.00305653 -0.00725569 0.14530732
+v -0.00064136 -0.00033862 0.13691818
+v -0.00108981 -0.00033862 0.13694138
+v -0.00302598 -0.00221386 0.14530734
+v -0.00265246 -0.00515894 0.14530733
+v 0.00101813 -0.00223468 0.13523437
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+f 1 3 8
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+f 1 17 16
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+f 20 33 25
+f 20 34 24
+f 20 24 32
+f 24 34 35
+f 24 35 36
+f 29 36 35
+f 29 35 31
+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_46.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cbd072bf1a438fe29161e1197cbb2187ec20892
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_46.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.00087500 -0.00931672 0.10911272
+v -0.00050552 -0.00931670 0.10476263
+v 0.00087150 -0.00931672 0.10916786
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+v -0.00156739 -0.00931669 0.10189685
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+v 0.00069642 -0.01015116 0.11144478
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+v -0.00400277 -0.01609394 0.11046987
+v -0.00292602 -0.00931670 0.10301101
+v -0.00190967 -0.01696205 0.11144476
+v -0.00246993 -0.01696205 0.11144476
+v 0.00062989 -0.00931673 0.11144479
+v -0.00558989 -0.00931671 0.10565340
+v -0.00527387 -0.00931671 0.10524213
+v -0.00427940 -0.01669637 0.11144476
+v -0.00806817 -0.00931673 0.11144479
+v -0.00785632 -0.00931672 0.10929124
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+v -0.00729693 -0.01219195 0.11144478
+v -0.00804191 -0.00931673 0.11113260
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+v -0.00768562 -0.01153489 0.11098771
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+v -0.00740198 -0.01201309 0.11144478
+v -0.00764272 -0.01145930 0.11144478
+v -0.00782130 -0.01095715 0.11144478
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_47.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b730cbdadce286afe5d195201a05fc27155edf79
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_47.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.00597963 -0.04013465 0.08517640
+v 0.00542154 -0.04218977 0.08517640
+v 0.00591984 -0.03880023 0.08517641
+v 0.00510263 -0.04330681 0.09188467
+v 0.00507274 -0.04369969 0.09215675
+v 0.00509641 -0.04369969 0.09193618
+v 0.00543774 -0.04369968 0.08856289
+v 0.00542154 -0.04369967 0.08819703
+v 0.00285034 -0.04369966 0.08517639
+v 0.00549629 -0.03671685 0.08517642
+v 0.00536798 -0.03897913 0.08770043
+v 0.00493695 -0.04055751 0.09032879
+v 0.00501917 -0.04369969 0.09243676
+v -0.00310801 -0.04369966 0.08517639
+v 0.00517862 -0.03608003 0.08517642
+v -0.00674681 -0.03495534 0.09276566
+v 0.00267220 -0.04369970 0.09399397
+v 0.00490332 -0.03646264 0.08611418
+v -0.00538273 -0.04322461 0.08517639
+v -0.00425284 -0.04369966 0.08543262
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+v 0.00172918 -0.03495531 0.08517642
+v -0.00674681 -0.03495531 0.08517642
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+v -0.00674681 -0.04274785 0.08546960
+v -0.00674681 -0.04245854 0.08517639
+v -0.00674681 -0.04369967 0.08657246
+v -0.00627343 -0.04369967 0.08616698
+v -0.00674681 -0.04321264 0.08594244
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+f 28 31 32
+f 30 32 31
+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_48.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41e92712e506c909ce269edecfa0030317b58d8b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_48.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.03036101 -0.02476934 -0.05706439
+v -0.02982517 -0.02476934 -0.05706439
+v -0.02982517 -0.02612616 -0.05706440
+v -0.03169479 -0.02476934 -0.05706247
+v -0.02982517 -0.02476937 -0.04831861
+v -0.03036101 -0.02612616 -0.05706248
+v -0.02982517 -0.02666840 -0.05706248
+v -0.03448993 -0.02476934 -0.05694143
+v -0.03036101 -0.03032007 -0.05696835
+v -0.03604407 -0.03606694 -0.03799163
+v -0.03547809 -0.03713449 -0.03788789
+v -0.03347393 -0.03713448 -0.03949987
+v -0.03051410 -0.03713448 -0.04214743
+v -0.02982517 -0.03713447 -0.04302354
+v -0.04427640 -0.02476941 -0.03796469
+v -0.02982517 -0.03032007 -0.05697986
+v -0.03448993 -0.02612616 -0.05688571
+v -0.03582371 -0.02476934 -0.05678195
+v -0.03046771 -0.03464470 -0.05597888
+v -0.03460127 -0.03038543 -0.05595005
+v -0.02982517 -0.03086231 -0.05696257
+v -0.02982517 -0.03462533 -0.05612299
+v -0.04686046 -0.02476941 -0.03753816
+v -0.03867684 -0.03460603 -0.03771880
+v -0.03864204 -0.03713449 -0.03757088
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+v -0.03858174 -0.02476934 -0.05591737
+v -0.02982517 -0.03524020 -0.05595007
+v -0.02982517 -0.03596037 -0.05568685
+v -0.03329764 -0.03333631 -0.05543707
+v -0.03715749 -0.02903104 -0.05533331
+v -0.03856782 -0.02585263 -0.05567144
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+v -0.03934953 -0.02476935 -0.05560803
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+v -0.05210744 -0.02625451 -0.04456246
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+v -0.05006385 -0.03039396 -0.04021648
+v -0.04845636 -0.03183915 -0.03876590
+v -0.04935637 -0.02904442 -0.03801467
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+v -0.04558931 -0.03713448 -0.04031257
+v -0.05352241 -0.02476939 -0.04305807
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_49.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdffc7cbc1ee4887717406b22544e6439b584cf7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_49.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.00605057 -0.02193186 0.07973296
+v 0.00552089 -0.02432331 0.08315650
+v 0.00548741 -0.02432328 0.07606004
+v 0.00594098 -0.02218745 0.07606005
+v 0.00601404 -0.01892053 0.07606006
+v 0.00519517 -0.02318196 0.08801389
+v 0.00519517 -0.02432332 0.08801389
+v -0.01117013 -0.02432328 0.07606004
+v 0.00595012 -0.01860176 0.07606006
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+v 0.00549654 -0.01914969 0.07973297
+v -0.01128581 -0.02242982 0.07606005
+v -0.01176069 -0.02432328 0.07740037
+v -0.00291746 -0.00931660 0.07606010
+v -0.00340757 -0.00931661 0.07800825
+v 0.00168528 -0.02432335 0.09567142
+v 0.00490598 -0.02432333 0.09060623
+v 0.00500034 -0.01961682 0.08239285
+v -0.00725841 -0.01079147 0.09129722
+v -0.01127972 -0.01113229 0.09922490
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+v -0.01607424 -0.02036465 0.11892977
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_5.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a909d77fe10b20bac02436509ca9b7c8e36ed0d2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_5.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_50.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..434c165bbcadde6de865b758191a6d5f9d514f52
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_50.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_51.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd381e84e9a4dc82aeded337cfe7193304be6f9e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_51.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_52.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42277bc714df6882f772e98d0f55c08a28f623df
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_52.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_53.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbd66897c91636f47dce5c0efcd7ff5c7479b8f8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_53.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_54.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f455c9ba00ae6a5a84ff38805ef8f34f158f7b6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_54.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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+v -0.00532847 -0.01398318 0.15702190
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_55.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11dbff06c2822295db3b327b2f09ec83486218b5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_55.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.00285865 -0.04369981 0.12567200
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+f 33 53 34
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+f 35 71 64
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+f 35 56 55
+f 35 55 38
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+f 38 56 57
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+f 38 58 39
+f 38 55 56
+f 39 58 40
+f 40 43 41
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+f 40 59 44
+f 44 59 60
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+f 57 70 58
+f 58 70 59
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+f 59 62 60
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_56.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f172b3731e24c5505f422694cf51d5202baa4a74
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_56.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.01281169 -0.02432341 0.11144566
+v -0.01230020 -0.02432341 0.11144566
+v -0.01281169 -0.02432341 0.11279487
+v -0.01281169 -0.02127474 0.11144567
+v -0.00487050 -0.01719768 0.11286397
+v -0.00487050 -0.01692285 0.11722922
+v -0.01239581 -0.02432341 0.11174347
+v -0.00487050 -0.01552324 0.11144569
+v -0.00529570 -0.01396242 0.11722923
+v -0.01281169 -0.02419461 0.11273825
+v -0.01281169 -0.02193194 0.11174122
+v -0.00635442 -0.01396240 0.11261939
+v -0.00571001 -0.01396240 0.11144570
+v -0.00487050 -0.01396242 0.11721451
+v -0.00487050 -0.01396240 0.11144570
+f 1 2 7
+f 1 7 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 13
+f 1 13 15
+f 1 15 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 8 5
+f 3 7 6
+f 3 6 9
+f 3 9 10
+f 4 11 9
+f 4 9 12
+f 4 12 13
+f 5 8 15
+f 5 15 14
+f 5 14 6
+f 6 14 9
+f 9 14 15
+f 9 15 13
+f 9 13 12
+f 9 11 10
+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_57.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92b7d29f841cf43c60215ba6669ff1188876e29f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_57.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00104094 -0.01398319 0.15929509
+v -0.00104094 -0.01317559 0.15852234
+v 0.00901717 -0.01162495 0.16024178
+v 0.00645003 -0.01398320 0.16286384
+v -0.00104094 -0.01398325 0.17800627
+v -0.00104094 -0.00941605 0.15793453
+v 0.00680115 -0.00515683 0.15755147
+v 0.00680115 -0.00935151 0.15847172
+v 0.00947409 -0.00935152 0.15962755
+v 0.01019959 -0.00935153 0.16252482
+v 0.00918459 -0.01189969 0.16252481
+v 0.00645003 -0.01398320 0.16298713
+v 0.00513624 -0.01398322 0.16910530
+v 0.00913925 -0.01187388 0.16505442
+v 0.00175873 -0.00846655 0.17788080
+v -0.00104094 -0.01304291 0.17858748
+v -0.00104094 0.00485325 0.15760876
+v 0.00948456 -0.00168125 0.15958794
+v 0.00982521 -0.00515683 0.15913881
+v 0.01083556 -0.00515685 0.16252483
+v 0.00959036 -0.00935154 0.16559822
+v 0.00642911 -0.01398321 0.16672980
+v 0.00636865 -0.01398321 0.16707545
+v 0.00220170 -0.00515690 0.17822866
+v -0.00104094 -0.00932209 0.17910047
+v 0.00301323 0.00485322 0.16626975
+v 0.00719181 0.00222579 0.16218581
+v 0.00882766 0.00111582 0.16058086
+v -0.00104094 0.00485317 0.18004279
+v 0.00967639 -0.00055653 0.16218580
+v 0.00894392 0.00125225 0.16475064
+v 0.00941480 -0.00096587 0.16537368
+v 0.00987521 -0.00515686 0.16591745
+v 0.00302370 0.00485322 0.16642166
+v 0.00894392 0.00125226 0.16334163
+v 0.00680464 0.00261667 0.16634459
+v -0.00067005 0.00485317 0.17908070
+v 0.00239238 0.00485320 0.17083361
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 22
+f 1 22 23
+f 1 23 13
+f 1 13 5
+f 1 5 16
+f 1 16 25
+f 1 25 29
+f 1 29 17
+f 1 17 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
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+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 6 17 7
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+f 10 14 11
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+f 11 22 12
+f 13 23 14
+f 14 23 22
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+f 17 34 26
+f 18 28 30
+f 18 30 20
+f 18 20 19
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+f 20 31 32
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+f 20 33 21
+f 21 33 24
+f 24 29 25
+f 24 33 32
+f 24 32 29
+f 26 34 35
+f 26 35 27
+f 27 35 28
+f 28 35 30
+f 29 32 31
+f 29 31 36
+f 29 36 37
+f 30 35 31
+f 31 35 36
+f 34 36 35
+f 34 38 36
+f 36 38 37
+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_58.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdf0ce39fb25549a23830363ed4e4d586f4af3c8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_58.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.02623161 0.03072657 -0.05707080
+v -0.02623161 0.03258593 -0.05706790
+v -0.02544724 0.03223360 -0.05706790
+v -0.02544724 0.03072657 -0.05706935
+v -0.03035952 0.03072657 -0.05697691
+v -0.02623161 0.03559666 -0.05691189
+v -0.02544724 0.03502550 -0.05694078
+v -0.02544724 0.03258593 -0.05706645
+v -0.03035952 0.03258593 -0.05689602
+v -0.02544724 0.03072654 -0.04854868
+v -0.03447997 0.03072657 -0.05625037
+v -0.03033966 0.03559666 -0.05614489
+v -0.02544724 0.03559666 -0.05691044
+v -0.03447253 0.03250917 -0.05581991
+v -0.02544724 0.03558375 -0.04732090
+v -0.03420445 0.03559661 -0.04231452
+v -0.03827774 0.03072652 -0.04231454
+v -0.03715827 0.03072656 -0.05525082
+v -0.03266052 0.03559665 -0.05540536
+v -0.02544724 0.03559665 -0.05425126
+v -0.03699693 0.03106029 -0.05521904
+v -0.03308497 0.03538068 -0.05532591
+v -0.02618445 0.03559662 -0.04709990
+v -0.04839023 0.03559661 -0.04231452
+v -0.05080293 0.03072652 -0.04231454
+v -0.04926645 0.03072653 -0.04683993
+v -0.04920688 0.03096348 -0.04679370
+v -0.04563747 0.03559662 -0.04714035
+v -0.04837286 0.03559661 -0.04338483
+v -0.04914731 0.03499351 -0.04281284
+v -0.04914731 0.03499351 -0.04231452
+v -0.05080045 0.03072652 -0.04244165
+v -0.05074088 0.03072652 -0.04437862
+v -0.04984232 0.03245095 -0.04429916
+v -0.04832321 0.03375872 -0.04557171
+v -0.04743210 0.03559662 -0.04492170
+f 1 2 3
+f 1 3 4
+f 1 4 10
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+f 1 17 25
+f 1 25 32
+f 1 32 33
+f 1 33 26
+f 1 26 18
+f 1 18 11
+f 1 11 5
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+f 30 33 32
+f 30 36 35
+f 30 35 34
+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_59.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf13c6ed1297dd48f561492c1128445be6f92b45
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_59.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.01280969 0.00664647 0.06295720
+v -0.01280969 0.00672028 0.06343619
+v -0.01280969 0.00688268 0.05903268
+v -0.01220625 0.00435823 0.05903267
+v -0.00816001 -0.00901208 0.06763059
+v -0.01280969 0.00757897 0.06763065
+v -0.01280969 0.00704754 0.05858148
+v -0.01197846 0.00463382 0.05568372
+v -0.00745666 -0.00901203 0.05411439
+v -0.00086479 -0.00901208 0.06763059
+v -0.01280969 0.01611932 0.06763068
+v -0.01280969 0.00736987 0.05827318
+v -0.01206638 0.00668340 0.05411444
+v -0.01148692 0.00382678 0.05411443
+v -0.01135304 0.00323627 0.05411443
+v 0.00450022 -0.00901203 0.05411439
+v 0.00342122 -0.00901205 0.05882488
+v 0.00563516 -0.00381800 0.06763061
+v -0.00068496 0.01611932 0.06763068
+v -0.01280969 0.01611937 0.05411448
+v -0.01280969 0.01345466 0.05411447
+v 0.00741751 -0.00096378 0.05411442
+v 0.00751542 -0.00096378 0.05489245
+v 0.00759934 -0.00096380 0.05903265
+v 0.00711379 -0.00096383 0.06763062
+v 0.00511964 0.01611935 0.05918355
+v 0.00235222 0.01562230 0.06763068
+v 0.00558321 0.01611937 0.05411448
+v 0.00509167 0.01420014 0.06763067
+v 0.00530347 0.01611935 0.05863047
+v 0.00267192 0.01553126 0.06763068
+v 0.00490984 0.01434038 0.06763067
+f 1 2 6
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+f 1 21 12
+f 1 12 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
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+f 9 22 16
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+f 12 21 13
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+f 16 24 25
+f 16 25 18
+f 16 18 17
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+f 22 28 23
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+f 24 28 29
+f 24 29 25
+f 26 27 31
+f 26 31 32
+f 26 32 30
+f 28 30 29
+f 29 30 32
+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_6.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bea1ce08fd2da22e258ac4c89131a4c8b6e531e2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_6.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v -0.01785897 0.00825763 0.11191284
+v -0.02077313 0.00871841 0.11191284
+v -0.01281234 0.02774787 0.11014622
+v -0.01644693 0.00890990 0.11191284
+v -0.01924221 0.00908940 0.11598294
+v -0.02060022 0.00908940 0.11598294
+v -0.02083796 0.00871242 0.11285955
+v -0.02453018 0.01324834 0.12114140
+v -0.02429604 0.01346976 0.11864418
+v -0.02177813 0.01096245 0.11191285
+v -0.00971448 0.02864548 0.11145075
+v -0.00832045 0.02859162 0.11145820
+v -0.00832045 0.02856170 0.11145074
+v -0.00832045 0.02074047 0.11145072
+v -0.02192582 0.01162070 0.11191285
+v -0.02225001 0.01485211 0.11191286
+v -0.02224281 0.01582752 0.11191287
+v -0.02194023 0.01904697 0.11191288
+v -0.02183216 0.01996254 0.11191288
+v -0.02081995 0.02376245 0.11191290
+v -0.01368767 0.02774786 0.11038476
+v -0.03861104 0.06465162 0.17190602
+v -0.03447936 0.06350866 0.16963242
+v -0.00832045 0.02342132 0.11846531
+v -0.00832045 0.02504301 0.12160361
+v -0.00832045 0.02981830 0.12839459
+v -0.01990500 0.01352959 0.12345972
+v -0.02369448 0.01739528 0.13219628
+v -0.02210232 0.01329620 0.12431697
+v -0.02453018 0.01334407 0.12444370
+v -0.02830885 0.01789197 0.13157758
+v -0.02830885 0.01789197 0.13139122
+v -0.03250177 0.02604229 0.13956872
+v -0.03035488 0.06015758 0.16404907
+v -0.02775772 0.06003192 0.16422052
+v -0.01954839 0.05182775 0.15157783
+v -0.00832045 0.03202048 0.11959841
+v -0.04070389 0.04273787 0.16037399
+v -0.04070389 0.04328242 0.16037399
+v -0.04049497 0.04607700 0.16081381
+v -0.04120820 0.04935628 0.16346758
+v -0.04090922 0.05248597 0.16410867
+v -0.04057422 0.05528053 0.16474231
+v -0.01959522 0.02581499 0.11191290
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+v -0.01757440 0.02722126 0.11191291
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+v -0.04196465 0.06876267 0.17996423
+v -0.03861104 0.06650668 0.17493250
+v -0.03447936 0.06463965 0.17170475
+v -0.00832045 0.03425251 0.13207708
+v -0.01139309 0.03817805 0.14047819
+v -0.01114094 0.03417470 0.13636335
+v -0.02775052 0.02169184 0.14037377
+v -0.02898606 0.02169184 0.14037377
+v -0.03285838 0.02574306 0.14522659
+v -0.03280795 0.02568323 0.14183484
+v -0.03691442 0.03371985 0.15131686
+v -0.02334867 0.05631581 0.15919625
+v -0.03182817 0.06435241 0.17215947
+v -0.02728224 0.06057646 0.16665065
+v -0.01929984 0.05227655 0.15423160
+v -0.01564364 0.04758504 0.14726172
+v -0.00832045 0.03494668 0.12675464
+v -0.04103530 0.04228905 0.16251340
+v -0.04249777 0.04935627 0.16665061
+v -0.04353880 0.05354512 0.17078782
+v -0.04169809 0.05374860 0.16633755
+v -0.04287960 0.05773998 0.17078783
+v -0.04130186 0.05773999 0.16756007
+v -0.04471310 0.06800866 0.18129111
+v -0.03861104 0.06870881 0.17993441
+v -0.03861104 0.06797278 0.17786209
+v -0.04309934 0.06939099 0.18287890
+v -0.00832045 0.03433030 0.13207708
+v -0.01139309 0.03973392 0.14047820
+v -0.01535187 0.04514950 0.14930423
+v -0.01543832 0.04251051 0.14866314
+v -0.03209112 0.03018324 0.15253192
+v -0.03325822 0.03018324 0.15253192
+v -0.03710173 0.03411478 0.15715367
+v -0.03724582 0.03352835 0.15423153
+v -0.02319738 0.05677657 0.16251345
+v -0.03641012 0.06833780 0.18070967
+v -0.03168768 0.06460972 0.17493250
+v -0.01564364 0.04758503 0.14909550
+v -0.01954119 0.05216883 0.15738481
+v -0.00832045 0.03547925 0.13063838
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+v -0.04112175 0.04236085 0.16571134
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+v -0.04431687 0.05773997 0.17457466
+v -0.04488241 0.05773996 0.17665444
+v -0.04483198 0.06001392 0.17690790
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_60.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..066e3a017c1725d80f7e517b0737047707f3b32c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_60.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_61.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe732f65c34d7121197090c771bda0f1a1c59c93
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_61.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_62.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dde0210b60f48d3ab483d7043870676790e7c2e7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_62.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+f 18 25 26
+f 18 26 27
+f 18 27 19
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 25
+f 22 32 25
+f 22 25 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 23
+f 23 37 43
+f 23 43 42
+f 23 42 46
+f 23 46 45
+f 23 45 44
+f 23 44 38
+f 23 38 30
+f 23 30 29
+f 23 29 28
+f 23 28 24
+f 25 32 26
+f 25 31 33
+f 26 32 27
+f 30 38 31
+f 31 38 33
+f 33 39 34
+f 33 38 40
+f 33 40 41
+f 33 41 39
+f 34 39 35
+f 35 37 36
+f 35 39 41
+f 35 41 42
+f 35 42 43
+f 35 43 37
+f 38 44 40
+f 40 44 45
+f 40 45 41
+f 41 45 46
+f 41 46 42
+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_63.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..571af6d0bd6f5edab46bd766a2da7c62d5298b41
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_63.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.00145616 0.03559666 -0.05707865
+v 0.00166215 0.03559666 -0.05707720
+v 0.00166215 0.03072657 -0.05707433
+v -0.00145616 0.03072657 -0.05707433
+v -0.02544724 0.03072657 -0.05706856
+v -0.02544724 0.03179117 -0.05706855
+v -0.02210069 0.03559666 -0.05706420
+v 0.00166215 0.03559663 -0.04789009
+v 0.00166215 0.03072652 -0.04231454
+v -0.02544724 0.03072654 -0.04854912
+v -0.02544724 0.03258593 -0.05706710
+v -0.02544724 0.03502550 -0.05694135
+v -0.02544724 0.03559666 -0.05691100
+v 0.00166215 0.03546360 -0.04231452
+v -0.02356829 0.03559663 -0.04786985
+v -0.02544724 0.03558375 -0.04732068
+v -0.01643201 0.03072652 -0.04231454
+v -0.02544724 0.03559665 -0.05425040
+v 0.00153476 0.03546169 -0.04231452
+v -0.01553765 0.03129481 -0.04231454
+v -0.01374097 0.03224976 -0.04231453
+v -0.01175322 0.03307742 -0.04231453
+v -0.00971504 0.03376824 -0.04231453
+v -0.00565460 0.03489006 -0.04231452
+v -0.00457447 0.03503070 -0.04231452
+v -0.00145616 0.03541068 -0.04231452
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 18
+f 1 18 15
+f 1 15 8
+f 1 8 2
+f 2 8 14
+f 2 14 9
+f 2 9 3
+f 3 9 17
+f 3 17 10
+f 3 10 5
+f 3 5 4
+f 5 10 16
+f 5 16 18
+f 5 18 13
+f 5 13 12
+f 5 12 11
+f 5 11 6
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 8 15 16
+f 8 16 14
+f 9 14 19
+f 9 19 26
+f 9 26 25
+f 9 25 24
+f 9 24 23
+f 9 23 22
+f 9 22 21
+f 9 21 20
+f 9 20 17
+f 10 17 16
+f 14 16 19
+f 15 18 16
+f 16 17 20
+f 16 20 21
+f 16 21 22
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 19
+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_64.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efe58cbcfd5148d8923984430206fc183152bb4e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_64.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.01281169 0.00726091 0.08744589
+v -0.01281169 0.02070773 0.08744594
+v -0.00765578 0.00726091 0.08744589
+v -0.01281169 0.00726085 0.10245757
+v -0.00145739 0.02080189 0.08744594
+v -0.01281169 0.02834759 0.11144585
+v -0.01244392 0.02839362 0.11144585
+v -0.00971322 0.02863636 0.11144586
+v 0.00156434 0.01515406 0.08744592
+v -0.01048928 0.00726088 0.09646229
+v -0.00309350 0.02175392 0.11144583
+v -0.01281169 0.00742407 0.10266195
+v -0.01245985 0.00726086 0.10170346
+v 0.00071298 0.01779902 0.09862364
+v -0.00098973 0.02065750 0.08744594
+v -0.00831456 0.02858195 0.11144585
+v -0.00558386 0.02816344 0.11144585
+v -0.00344534 0.02633874 0.10649599
+v -0.01281169 0.01908590 0.11144582
+v 0.00186694 0.01560815 0.08744592
+v 0.00179455 0.01558932 0.08778656
+v 0.00169754 0.01662302 0.09215146
+v -0.01142896 0.00726086 0.09940355
+v 0.00061597 0.02206993 0.10253984
+v -0.00244195 0.02413944 0.11144584
+v -0.00316300 0.02172881 0.11144583
+v 0.00111984 0.01734495 0.09629083
+v 0.00197843 0.01927432 0.08744593
+v 0.00036114 0.02199462 0.09468631
+v -0.00474843 0.02794163 0.11144585
+v -0.00311088 0.02666099 0.10870663
+v 0.00197988 0.01932664 0.08800975
+v 0.00169754 0.01967607 0.09215147
+v 0.00061597 0.02211387 0.10253984
+v -0.00286039 0.02695394 0.11144585
+v 0.00070429 0.02220596 0.09744668
+v 0.00068692 0.02218921 0.10042787
+f 1 2 5
+f 1 5 15
+f 1 15 28
+f 1 28 20
+f 1 20 9
+f 1 9 3
+f 1 3 10
+f 1 10 23
+f 1 23 13
+f 1 13 4
+f 1 4 12
+f 1 12 19
+f 1 19 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 10
+f 4 11 12
+f 4 13 14
+f 4 14 11
+f 5 8 16
+f 5 16 17
+f 5 17 18
+f 5 18 15
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+f 6 26 11
+f 6 11 25
+f 6 25 35
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+f 6 30 17
+f 6 17 16
+f 6 16 8
+f 6 8 7
+f 9 20 21
+f 9 21 22
+f 9 22 23
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+f 11 24 25
+f 11 26 12
+f 11 14 24
+f 12 26 19
+f 13 23 14
+f 14 23 27
+f 14 27 24
+f 15 18 29
+f 15 29 28
+f 17 30 18
+f 18 30 31
+f 18 31 29
+f 20 28 32
+f 20 32 22
+f 20 22 21
+f 22 33 34
+f 22 34 24
+f 22 24 27
+f 22 27 23
+f 22 32 33
+f 24 34 25
+f 25 34 35
+f 28 29 36
+f 28 36 32
+f 29 31 35
+f 29 35 36
+f 30 35 31
+f 32 36 37
+f 32 37 34
+f 32 34 33
+f 34 37 35
+f 35 37 36
+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_65.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d4dc08781a56e4c462c47212487259c39aa35fb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_65.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.03520628 0.00131932 -0.04231436
+v 0.02170894 0.00131932 -0.04231436
+v 0.03523548 -0.00096446 -0.04231436
+v 0.03526866 0.00131934 -0.04790625
+v 0.02170894 0.00131937 -0.05707237
+v 0.02170894 -0.02736735 -0.04231446
+v 0.03507621 -0.00271361 -0.04231437
+v 0.03526866 -0.02836104 -0.04664026
+v 0.03526866 0.00131937 -0.05707094
+v 0.02331896 0.00131937 -0.05707526
+v 0.02170894 -0.00007530 -0.05707382
+v 0.02170894 -0.02836103 -0.04801908
+v 0.02195715 -0.02720173 -0.04231446
+v 0.03484791 -0.00516010 -0.04231438
+v 0.03082751 -0.01712813 -0.04231442
+v 0.03014262 -0.01815379 -0.04231443
+v 0.02851269 -0.02055088 -0.04231444
+v 0.02737785 -0.02196590 -0.04231444
+v 0.02628946 -0.02323563 -0.04231445
+v 0.02544663 -0.02409277 -0.04231445
+v 0.02460113 -0.02494120 -0.04231445
+v 0.02334949 -0.02604822 -0.04231446
+v 0.03526866 -0.02836100 -0.05658974
+v 0.03417364 -0.00859738 -0.04231439
+v 0.03396923 -0.00954460 -0.04231440
+v 0.03349539 -0.01098576 -0.04231440
+v 0.03253442 -0.01354266 -0.04231441
+v 0.03154425 -0.01566372 -0.04231442
+v 0.02744820 0.00131937 -0.05707671
+v 0.03526866 -0.00935278 -0.05707097
+v 0.02744820 -0.00516005 -0.05707818
+v 0.02331896 -0.00516005 -0.05707673
+v 0.02170894 -0.00516005 -0.05707528
+v 0.02170894 -0.02836100 -0.05706670
+v 0.03157478 -0.02836100 -0.05705080
+v 0.03526866 -0.02612371 -0.05703056
+v 0.03526866 -0.02193098 -0.05706668
+v 0.02331896 -0.00935278 -0.05707674
+v 0.02331896 -0.02612371 -0.05706959
+v 0.02170894 -0.02612371 -0.05706813
+v 0.02331896 -0.02836100 -0.05706813
+v 0.02744820 -0.02836100 -0.05706380
+v 0.03157478 -0.02612371 -0.05706236
+f 1 2 6
+f 1 6 13
+f 1 13 22
+f 1 22 21
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+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 28
+f 1 28 27
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+f 1 26 25
+f 1 25 24
+f 1 24 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 29
+f 1 29 10
+f 1 10 5
+f 1 5 2
+f 2 5 11
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+f 2 33 40
+f 2 40 34
+f 2 34 12
+f 2 12 6
+f 3 7 8
+f 3 8 4
+f 4 8 23
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+f 4 36 37
+f 4 37 30
+f 4 30 9
+f 5 10 11
+f 6 12 8
+f 6 8 13
+f 7 14 8
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+f 8 35 23
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+f 8 28 15
+f 9 30 31
+f 9 31 29
+f 10 29 31
+f 10 31 32
+f 10 32 33
+f 10 33 11
+f 23 35 36
+f 30 37 31
+f 31 38 32
+f 31 37 39
+f 31 39 38
+f 32 38 33
+f 33 38 40
+f 34 40 39
+f 34 39 41
+f 35 42 43
+f 35 43 37
+f 35 37 36
+f 37 43 42
+f 37 42 41
+f 37 41 39
+f 38 39 40
+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_66.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..690b6674c5e2b923c70bc7f088cc1edcc7db2022
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_66.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01801655 -0.01318876 0.11729670
+v 0.01799824 -0.01365137 0.11727186
+v 0.01779858 -0.01354450 0.11435739
+v 0.01752902 -0.01113761 0.11461200
+v 0.01752902 -0.01113762 0.11612305
+v 0.01789508 -0.01365138 0.11851174
+v 0.01797162 -0.01365137 0.11773966
+v 0.01779858 -0.01365136 0.11441949
+v 0.01779192 -0.01365136 0.11436153
+v 0.01519124 -0.01365136 0.11426631
+v 0.01659225 -0.01113761 0.11461200
+v 0.00654561 -0.00033855 0.11705870
+v 0.01010470 -0.00033855 0.11741680
+v 0.01069538 -0.00033855 0.11768175
+v 0.01308974 -0.00284970 0.11888644
+v 0.01308974 -0.00284970 0.11972890
+v 0.01715298 -0.01365138 0.12104120
+v 0.01515131 -0.01365136 0.11426631
+v 0.00569037 -0.00033855 0.11731744
+v 0.01107974 -0.00033857 0.12140556
+v 0.00933265 -0.00250309 0.12823218
+v 0.01348574 -0.01098520 0.12777676
+v 0.01431603 -0.01054733 0.12526594
+v 0.01550738 -0.01354454 0.12526593
+v 0.01551237 -0.01365140 0.12525765
+v 0.01127775 -0.01365137 0.11730911
+v 0.00389335 -0.00033855 0.11825098
+v 0.00440084 -0.00033855 0.11791565
+v 0.00700152 -0.00033860 0.12972047
+v 0.00585676 -0.00185024 0.13258731
+v 0.01355230 -0.01354455 0.12786783
+v 0.01354564 -0.01365141 0.12785955
+v 0.00825444 -0.01365139 0.12127510
+v 0.00101980 -0.00127551 0.12086737
+v 0.00101980 -0.00033856 0.12072662
+v 0.00101980 -0.00093409 0.12081563
+v 0.00277188 -0.00033861 0.13403006
+v 0.00101980 -0.00033862 0.13540863
+v 0.00607306 -0.00515890 0.13250450
+v 0.01348741 -0.01365141 0.12789474
+v 0.00692831 -0.01365139 0.12348785
+v 0.00600817 -0.01365140 0.12519762
+v 0.00101980 -0.00506374 0.12539015
+v 0.00101980 -0.00223468 0.13523475
+v 0.01092999 -0.01365141 0.12921121
+v 0.00598654 -0.01365140 0.12622430
+v 0.00101980 -0.00605415 0.12940582
+v 0.00101980 -0.00556676 0.12739798
+v 0.00101980 -0.00513935 0.13358708
+v 0.01082017 -0.01365141 0.12925261
+v 0.00695660 -0.01365141 0.12894212
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 6
+f 2 6 17
+f 2 17 25
+f 2 25 32
+f 2 32 40
+f 2 40 45
+f 2 45 50
+f 2 50 51
+f 2 51 46
+f 2 46 42
+f 2 42 41
+f 2 41 33
+f 2 33 26
+f 2 26 18
+f 2 18 10
+f 2 10 9
+f 2 9 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 4 10 18
+f 4 18 11
+f 5 16 6
+f 6 16 17
+f 11 18 12
+f 12 18 19
+f 12 19 28
+f 12 28 27
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+f 12 37 29
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+f 14 20 15
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+f 16 21 22
+f 16 22 23
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+f 17 23 24
+f 17 24 25
+f 18 26 27
+f 18 27 28
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+f 20 29 21
+f 21 29 30
+f 21 30 22
+f 22 31 24
+f 22 24 23
+f 22 30 31
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+f 25 31 32
+f 26 33 34
+f 26 34 27
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+f 27 36 35
+f 29 37 30
+f 30 37 38
+f 30 38 39
+f 30 39 31
+f 31 39 40
+f 31 40 32
+f 33 41 34
+f 34 41 42
+f 34 42 43
+f 34 43 48
+f 34 48 47
+f 34 47 49
+f 34 49 44
+f 34 44 38
+f 34 38 35
+f 34 35 36
+f 38 44 39
+f 39 44 45
+f 39 45 40
+f 42 46 47
+f 42 47 48
+f 42 48 43
+f 44 49 50
+f 44 50 45
+f 46 51 49
+f 46 49 47
+f 49 51 50
+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_67.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e47c429e0bd94a78e85c4e08ea3d5e56f0858655
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_67.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00706703 -0.00096372 0.07606013
+v 0.00695223 -0.00116074 0.07606013
+v 0.00695028 0.00275416 0.07606014
+v 0.00681213 -0.00096373 0.07973190
+v 0.00669538 -0.00116075 0.08004197
+v -0.01062651 -0.00116074 0.07606013
+v 0.00688218 0.00325702 0.07606014
+v 0.00512119 -0.00116080 0.09347587
+v -0.01183098 0.00099414 0.07742703
+v -0.01094368 -0.00042376 0.07606013
+v -0.01036576 -0.00116075 0.07999805
+v -0.01272023 0.00032472 0.08801084
+v -0.01251397 0.00019201 0.08387137
+v -0.01208978 0.00058278 0.07973190
+v 0.00528075 0.00577875 0.07606015
+v 0.00522238 0.00568476 0.07850197
+v 0.00621086 0.00347712 0.07982235
+v 0.00459971 0.00096934 0.09396423
+v 0.00519513 -0.00064228 0.09240870
+v 0.00409768 -0.00116081 0.09557919
+v -0.01204308 0.00322899 0.07650974
+v -0.01193411 0.00322899 0.07606014
+v -0.01281169 0.00175748 0.08156909
+v -0.01281169 0.00322898 0.07984560
+v -0.00972169 -0.00116077 0.08315820
+v -0.00382968 -0.00116082 0.09930782
+v -0.01241279 0.00071545 0.09131053
+v -0.01281169 0.00049784 0.08828215
+v -0.01281169 0.00047970 0.08801084
+v -0.01281169 0.00066354 0.08451477
+v 0.00267138 0.00682981 0.07606016
+v -0.01281169 0.00726003 0.10245508
+v -0.00132344 -0.00116084 0.10227159
+v 0.00238728 -0.00116082 0.09857398
+v -0.01215204 0.00456529 0.07606015
+v -0.01281169 0.00330153 0.07980168
+v -0.01252565 0.00712823 0.07606016
+v -0.01247311 0.00676304 0.07606015
+v -0.00262910 -0.00116083 0.10194860
+v -0.01281169 0.00124716 0.09151983
+v -0.01281169 0.00463609 0.09969026
+v -0.00112301 0.00720984 0.07606016
+v -0.01142819 0.00726004 0.09940087
+v -0.01245949 0.00726004 0.10170316
+v -0.01281169 0.00726013 0.07747615
+v -0.01254121 0.00726013 0.07606016
+v -0.00303967 0.00726013 0.07606016
+f 1 2 6
+f 1 6 10
+f 1 10 22
+f 1 22 35
+f 1 35 38
+f 1 38 37
+f 1 37 46
+f 1 46 47
+f 1 47 42
+f 1 42 31
+f 1 31 15
+f 1 15 7
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+f 1 3 4
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+f 7 18 19
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_68.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ecb84c55804e5cd2e0fc42bb128db0493ae257a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_68.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.01281169 0.00758033 0.06763198
+v -0.00815966 -0.00901454 0.06763192
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_69.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d836f459298afec1e6175cabc9bf034536d7b01
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_69.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.00166480 -0.03693496 -0.05707115
+v 0.00166480 -0.03693499 -0.04825358
+v 0.00166480 -0.03451205 -0.05707403
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+v 0.02170894 -0.03287556 -0.05706102
+v 0.02170894 -0.03451205 -0.05705813
+v 0.01918773 -0.03693496 -0.05705525
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_7.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a2a0e49d749ced4c05caa93af2ab2b3bee9db95
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_7.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.03608165 -0.05287238 0.07972904
+v 0.03570509 -0.05287238 0.07838430
+v 0.03485503 -0.05287239 0.08223809
+v 0.03788988 -0.05727365 0.08189129
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+
diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_70.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..974db19679377c69b28755e301d7630f62b22e2e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_70.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.00147450 -0.04369982 0.12685140
+v -0.00674681 -0.04172728 0.12461909
+v -0.00674681 -0.04106154 0.12181039
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_71.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb35632b59d9830c884f33755258b5df53668cdc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_71.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_8.obj b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6e062c5807efaf3b7be6847443d93b4b36f37d5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4c271c93514c57cbbc5a380c555b53f7/mjcf/mesh/houseplant_017_collision_8.obj
@@ -0,0 +1,391 @@
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