diff --git a/.gitattributes b/.gitattributes
index 93fc81da9b46e39805892e4d8089a35cfaf5bdb6..05399ad253e18a7b744433a2e61de97213a74abe 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4899,5 +4899,4 @@ dataset/livingroom_supplies/ornaments/0ff120be6cc8572fbe0cd072da5914f5/diffuser_
dataset/livingroom_supplies/ornaments/0ff120be6cc8572fbe0cd072da5914f5/mesh/diffuser_bottle_001.glb filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/1518b3ed231258ee9dc8992fa9c40740/mesh/photo_frame_034.glb filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/1518b3ed231258ee9dc8992fa9c40740/photo_frame_034.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/houseplant_001.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mesh/houseplant_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/21b1b6edb55f501580fb0ffc53beabda.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/21b1b6edb55f501580fb0ffc53beabda.urdf b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/21b1b6edb55f501580fb0ffc53beabda.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2e520ff3a2794f16d00a2b1fc37c868e55d784c0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/21b1b6edb55f501580fb0ffc53beabda.urdf
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+ 0.5
+ 0.7
+ 0.6
+ 0.5
+ 1.0
+ 20251016212527
+ mesh/wind_chime_45_gs.ply
+
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+ NO: part number exceeds palette size 20
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/21b1b6edb55f501580fb0ffc53beabda.usd b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/21b1b6edb55f501580fb0ffc53beabda.usd
new file mode 100644
index 0000000000000000000000000000000000000000..dc8bd745889a065fb73c9d7e98a01e4827cdebea
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/21b1b6edb55f501580fb0ffc53beabda.usd
@@ -0,0 +1,3 @@
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+oid sha256:a4a7fa23605aa68175afe26347c8f716fc685d02257868104ed69528291c57b8
+size 507865
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mesh/wind_chime_45.glb b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mesh/wind_chime_45.glb
new file mode 100644
index 0000000000000000000000000000000000000000..384de339c54fd433217894cf5128192f1ae24336
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mesh/wind_chime_45.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74061713b7856ac7d1808a5a6caba8880e16c366c90638940cf6d7d8253bdb4d
+size 1367360
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mesh/wind_chime_45.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mesh/wind_chime_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be4e3e4a9b65d11f24753ef1bd3b44f283da0662
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mesh/wind_chime_45.obj
@@ -0,0 +1,34797 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mesh/wind_chime_45_collision.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mesh/wind_chime_45_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ca2cda23da904a7288745e43c1cfb19b9def4db
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mesh/wind_chime_45_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2fa86e080316981230db069cdee2dac8b5b5b2f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision.obj
@@ -0,0 +1,7531 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_0.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28e179ab205cd77707f998163f69e0d0804669e1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_1.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..189e878c9f2242fc2fcd31d61020668d38dc1990
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_1.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+v 0.00036091 0.00025044 -0.08915703
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+
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_10.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbe3688668bf763337248b4924050bdb7596a88a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_10.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_11.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc6d922f50ee79738a6fa10c71817533224eea50
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_11.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_12.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae7569c9e86871f7c5793454cc3ba304e4d7d064
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_12.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_13.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e77728891a2839f2eb7d1ff09b29da8df9b5b26
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_13.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.04276359 0.01356070 0.12383592
+v -0.05345762 0.01356070 0.12347036
+v -0.04239839 0.01356070 0.12376281
+v -0.03449682 0.02592674 0.16416452
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+v -0.01968600 0.05470904 0.05473066
+v -0.02390238 0.05321428 0.01478230
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+
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_14.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd58e5dca1ca543c48bd70c32cf14a98a016898f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_14.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.00434460 -0.00073220 0.29973339
+v 0.00461634 0.00434895 0.29963226
+v -0.00437390 0.00461299 0.29974186
+v -0.00945641 -0.00073220 0.29873023
+v 0.00459925 -0.00073220 0.29962382
+v 0.01017510 -0.00073220 0.29843519
+v 0.01017510 0.00083272 0.29843519
+v 0.00116043 0.01004834 0.29850267
+v -0.00098638 0.01004834 0.29850267
+v -0.01001082 0.00128352 0.29862066
+v -0.01001082 -0.00073220 0.29862066
+v 0.01234146 -0.00073214 0.28314320
+v 0.00758134 0.00725985 0.29490306
+v 0.01228528 0.00479337 0.28314322
+v 0.01093955 0.00434898 0.29218859
+v 0.01041445 0.03013479 0.26936870
+v 0.00664837 0.03654903 0.26615689
+v 0.00022990 0.03853898 0.26827282
+v -0.00740729 0.00771064 0.29547630
+v 0.00011756 0.03853898 0.26827282
+v -0.00630091 0.03646531 0.26610631
+v -0.01093891 0.00461302 0.29253421
+v -0.01260947 -0.00073214 0.28314320
+v -0.00999861 0.03005107 0.26927597
+v 0.01134987 -0.00073210 0.27321266
+v 0.01205082 0.05297765 0.21362970
+v 0.01152083 0.06002300 0.21362973
+v 0.01131079 0.04333687 0.24342966
+v 0.01078324 0.04295687 0.25264365
+v 0.01098352 0.03348361 0.26302092
+v 0.01036805 0.03949214 0.25953938
+v 0.00405949 0.04076080 0.26302095
+v 0.01002368 0.04844377 0.24885018
+v 0.00498758 0.04611890 0.25566159
+v 0.00498758 0.04960940 0.25069635
+v 0.00091376 0.05803294 0.23891967
+v -0.00997663 0.03945350 0.25948036
+v -0.00056386 0.05803294 0.23891967
+v -0.00464012 0.04957719 0.25064575
+v -0.00464012 0.04609314 0.25561101
+v -0.00370959 0.04073504 0.26298723
+v -0.01243850 0.00479337 0.28314322
+v -0.01054813 0.03343208 0.26298720
+v -0.01227242 -0.00073212 0.27890290
+v -0.01167161 0.05297765 0.21362970
+v 0.00996262 -0.00073208 0.26801980
+v 0.01033141 0.04758094 0.21362968
+v 0.00468229 0.06505907 0.21362975
+v 0.01066113 0.05898612 0.22356025
+v 0.01102015 0.05309349 0.23311140
+v 0.01064403 0.04972534 0.24342968
+v 0.01014824 0.05820042 0.22954553
+v 0.00733222 0.05638432 0.23616306
+v 0.00446980 0.05915996 0.23311142
+v 0.00498758 0.06225120 0.22356026
+v -0.00963470 0.04839869 0.24879117
+v -0.01034053 0.04293755 0.25260149
+v -0.00436413 0.06503332 0.21362975
+v -0.00464012 0.06212884 0.22356026
+v -0.00411990 0.05908268 0.23295125
+v -0.00968355 0.05807162 0.22927576
+v -0.00698476 0.05629415 0.23589331
+v -0.01112208 0.06001012 0.21362973
+v -0.01172290 -0.00073210 0.27321266
+v -0.01000349 0.04755518 0.21362968
+v -0.01106347 -0.00073209 0.27075110
+v 0.00780359 -0.00073208 0.26660355
+v 0.00498758 0.04494054 0.21362968
+v 0.00498758 -0.00073207 0.26480796
+v -0.01019888 0.04962874 0.24342968
+v -0.01017445 0.05886376 0.22356025
+v -0.00464012 0.04490834 0.21362967
+v -0.00464012 -0.00073207 0.26428530
+v -0.01008165 -0.00073208 0.26749714
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+
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_15.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e761450ca8d6d38209edc3954b26f938bd5851a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_15.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.00463907 -0.04158677 0.20681529
+v -0.01357644 -0.04408416 0.20681528
+v -0.00463907 -0.04462795 0.21362933
+v 0.00487964 -0.04159518 0.20681529
+v -0.01373615 -0.04448498 0.20681528
+v -0.01053876 -0.04708330 0.21362932
+v -0.01053876 -0.04708050 0.21362731
+v 0.00498505 -0.04476809 0.21362933
+v 0.00498825 -0.04159798 0.20681529
+v -0.01617333 -0.05303106 0.20681525
+v -0.01288969 -0.05303108 0.21362930
+v 0.01072822 -0.04722064 0.21362932
+v 0.00498825 -0.04476809 0.21362732
+v 0.01351676 -0.04393561 0.20681528
+v -0.01551532 -0.06350554 0.20681521
+v -0.01180685 -0.06172291 0.21362926
+v 0.01073142 -0.04722064 0.21362731
+v 0.01281404 -0.05303108 0.21362930
+v 0.01390645 -0.04410098 0.20681528
+v -0.01051640 -0.06896001 0.20681519
+v -0.00552706 -0.06607022 0.21362925
+v 0.01188453 -0.06117634 0.21362927
+v 0.01645862 -0.05303106 0.20681525
+v -0.00453686 -0.07015965 0.20681518
+v 0.00525017 -0.07021851 0.20681518
+v 0.00523740 -0.06563017 0.21362925
+v 0.01520649 -0.06335699 0.20681521
+v 0.00548654 -0.06551805 0.21362925
+v 0.00863283 -0.06709608 0.20839263
+v 0.00714433 -0.06908614 0.20681519
+f 1 2 3
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+f 28 30 29
+
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_16.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df74fde0fa10a2795b6fb624986cc3ad70fbec3c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_16.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.00920373 0.05297953 0.17289439
+v 0.00846922 0.05161760 0.17289439
+v 0.00389321 0.05297957 0.16416463
+v 0.00308934 0.05981319 0.16416466
+v 0.00697175 0.06249831 0.17289443
+v 0.00388965 0.04626387 0.17289437
+v 0.00101564 0.04783041 0.16416462
+v -0.00277429 0.05981319 0.16416466
+v -0.00478574 0.06509132 0.17289444
+v 0.00509901 0.06477803 0.17289444
+v 0.00371892 0.04626387 0.17289437
+v -0.00028798 0.04783041 0.16416462
+v -0.00281519 0.05958098 0.16416466
+v -0.00896515 0.05611069 0.17289441
+v -0.00713510 0.06485358 0.17289444
+v -0.00338608 0.04652004 0.17289437
+v -0.00044271 0.04783593 0.16416462
+v -0.00335407 0.05297957 0.16416463
+v -0.00826443 0.05282288 0.17289439
+v -0.00328827 0.05285610 0.16416463
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 9
+f 1 9 15
+f 1 15 14
+f 1 14 19
+f 1 19 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
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+f 2 7 3
+f 3 7 12
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+f 3 17 20
+f 3 20 18
+f 3 18 13
+f 3 13 8
+f 3 8 4
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+f 4 9 10
+f 4 10 5
+f 6 11 12
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+f 8 14 15
+f 8 15 9
+f 11 16 17
+f 11 17 12
+f 13 18 14
+f 14 18 19
+f 16 19 17
+f 17 19 20
+f 18 20 19
+
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_17.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b6e6debcadb02e45ab7f5243cb5a3dc088498e7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_17.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.02078475 -0.05325823 0.11430187
+v 0.03153317 -0.04987683 0.11430189
+v 0.02995545 -0.04872711 0.16416424
+v 0.02855937 -0.04872711 0.16416424
+v 0.02838842 -0.04871952 0.16416424
+v 0.02078475 -0.05216907 0.11991688
+v 0.02078475 -0.05257103 0.03178775
+v 0.03114141 -0.04969809 0.01478192
+v 0.03128743 -0.04976272 0.04480168
+v 0.03135154 -0.04977035 0.05473028
+v 0.03634823 -0.04556185 0.11430190
+v 0.04060415 -0.04074230 0.16416427
+v 0.03488448 -0.04545197 0.16416425
+v 0.03616660 -0.04547434 0.05473029
+v 0.02560338 -0.04356583 0.16416426
+v 0.02078475 -0.05116340 0.12415737
+v 0.02078475 -0.05232428 0.01478191
+v 0.03595648 -0.04529203 0.01478193
+v 0.05005264 -0.03094707 0.11430196
+v 0.04067538 -0.04076884 0.15403096
+v 0.05003484 -0.03093152 0.01478199
+v 0.05010963 -0.03096583 0.05473035
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+v 0.02078475 -0.02811198 0.06465897
+v 0.02078475 -0.02812715 0.06249485
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+f 1 28 37
+f 1 37 40
+f 1 40 39
+f 1 39 49
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+f 1 62 69
+f 1 69 70
+f 1 70 67
+f 1 67 52
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+f 2 13 3
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+f 41 53 50
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+f 68 70 69
+
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_18.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11558cc3595e3fb0abf55250aaa77ee4e47600a4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_18.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.01323074 -0.00345687 0.20681543
+v 0.01288388 0.00305582 0.20681545
+v 0.00986664 0.00003812 0.20869640
+v 0.00986664 -0.00012249 0.20869640
+v 0.00408119 -0.00393645 0.20946126
+v 0.00408119 -0.01272032 0.20681539
+v 0.00761427 0.00907311 0.20681547
+v 0.00498836 0.00224597 0.20963642
+v -0.00194662 -0.00484357 0.20963548
+v 0.00027017 -0.00972526 0.20869513
+v 0.00363205 -0.01310488 0.20681539
+v -0.00258920 0.00294044 0.20992732
+v 0.00498836 0.01000511 0.20681548
+v -0.00867927 -0.00730476 0.20681541
+v -0.00292050 -0.01276104 0.20681539
+v 0.00011008 -0.00972526 0.20869513
+v -0.00947971 -0.00484356 0.20681542
+v -0.00504168 0.00934004 0.20681547
+v -0.00896832 0.00527498 0.20681546
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 15
+f 1 15 14
+f 1 14 17
+f 1 17 19
+f 1 19 18
+f 1 18 13
+f 1 13 7
+f 1 7 2
+f 2 7 3
+f 3 8 4
+f 3 7 8
+f 4 8 5
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 5 8 12
+f 5 12 9
+f 7 13 8
+f 8 13 12
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 9 12 17
+f 9 17 14
+f 10 16 11
+f 11 16 15
+f 12 13 18
+f 12 18 19
+f 12 19 17
+
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_19.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..985f6380c91476aa62a4aac4dcacbc38ed561494
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_19.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.06499613 0.00255373 0.17289421
+v 0.06496009 0.00517440 0.17289422
+v 0.06449152 -0.00598253 0.17289418
+v 0.05906090 -0.00484390 0.16416442
+v 0.05884864 0.00396588 0.16416445
+v 0.04435898 0.03390639 0.16416456
+v 0.04064646 0.04069977 0.16416459
+v 0.04900865 0.03370280 0.17289432
+v 0.06163604 -0.01334203 0.17289415
+v 0.05822388 -0.00992621 0.16416440
+v 0.05826793 -0.00973539 0.16416440
+v 0.03388222 0.04480252 0.16416460
+v 0.03388222 0.05040003 0.17289439
+v 0.04320158 0.04313594 0.17289436
+v 0.05313768 -0.01458239 0.17289415
+v 0.05313768 -0.01056866 0.16416440
+v 0.03368598 0.04475163 0.16416460
+v 0.02946083 0.04941409 0.17289438
+v 0.05274120 -0.01456331 0.17289415
+v 0.04791532 -0.01038419 0.16416440
+v 0.02609273 0.04266527 0.16416460
+v 0.02408228 0.04423636 0.17289436
+v 0.04704626 -0.01313848 0.17289415
+v 0.04779116 -0.01035875 0.16416440
+v 0.02445473 0.03370284 0.16416456
+v 0.02418240 0.03370280 0.17289432
+v 0.02719407 0.02693486 0.17289430
+v 0.02738230 0.02699851 0.16416454
+v 0.02451080 0.03356926 0.16416456
+f 1 2 8
+f 1 8 14
+f 1 14 13
+f 1 13 18
+f 1 18 22
+f 1 22 26
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+f 1 23 19
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+f 21 25 22
+f 22 25 26
+f 23 27 28
+f 23 28 24
+f 25 29 26
+f 26 29 28
+f 26 28 27
+
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_2.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62e307ad976e69d58cb15477e622151485ab6ca7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_2.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.01968600 -0.05434725 0.01500123
+v -0.02390306 -0.05281314 0.01500124
+v -0.02390306 -0.05281313 0.01478191
+v -0.01968600 -0.05434334 0.01478190
+v -0.01968600 -0.05363326 0.11395094
+v -0.03119172 -0.04976480 0.11430189
+v -0.02406722 -0.05274287 0.01478191
+v -0.01968600 -0.02977805 0.01478199
+v -0.01968600 -0.05143948 0.12421587
+v -0.02836454 -0.04846508 0.16416424
+v -0.02918533 -0.04847289 0.16416424
+v -0.03389487 -0.04590823 0.16416425
+v -0.04081508 -0.04100533 0.16416427
+v -0.03605082 -0.04609148 0.10437330
+v -0.03634266 -0.04662219 0.05473029
+v -0.03145073 -0.04955754 0.01478192
+v -0.01968600 -0.02977416 0.01500132
+v -0.03474850 -0.01448379 0.01478205
+v -0.03474850 -0.01446817 0.01479667
+v -0.03361762 -0.01446832 0.05473041
+v -0.01968600 -0.04342542 0.12708188
+v -0.02386294 -0.03375636 0.16416430
+v -0.02561396 -0.04340213 0.16416426
+v -0.04523278 -0.03398277 0.16416430
+v -0.04968331 -0.03133986 0.11430195
+v -0.04088074 -0.04180126 0.05473031
+v -0.03626605 -0.04644638 0.01478193
+v -0.03348265 -0.01446836 0.06465902
+v -0.01968600 -0.02881419 0.10437336
+v -0.03479227 -0.01446817 0.01478205
+v -0.01968600 -0.03340489 0.12405509
+v -0.01968600 -0.03271395 0.12287067
+v -0.01968600 -0.02929437 0.11462366
+v -0.02662810 -0.02668306 0.16416432
+v -0.04532398 -0.03375636 0.16416430
+v -0.05390037 -0.02412212 0.11430198
+v -0.04974168 -0.03137473 0.04480174
+v -0.04569607 -0.03618790 0.05473033
+v -0.04565959 -0.03618786 0.04480173
+v -0.04563406 -0.03617221 0.03487313
+v -0.04081873 -0.04171531 0.03487311
+v -0.04072753 -0.04162935 0.01478195
+v -0.03350454 -0.01446850 0.10437342
+v -0.01968600 -0.02883763 0.10511910
+v -0.05550913 -0.01446817 0.01478205
+v -0.01968600 -0.02924363 0.11430196
+v -0.02676673 -0.02663231 0.16416432
+v -0.03384380 -0.01446854 0.11430202
+v -0.03632077 -0.01446856 0.12092596
+v -0.04298198 -0.02695631 0.16416432
+v -0.05374716 -0.01446858 0.12478628
+v -0.05688807 -0.01446854 0.11450674
+v -0.05695373 -0.01446854 0.11428741
+v -0.05384930 -0.02412186 0.04480177
+v -0.04973803 -0.03135908 0.03487314
+v -0.04971250 -0.03131220 0.02494454
+v -0.04968331 -0.03126923 0.01500132
+v -0.04554286 -0.03608235 0.01478197
+v -0.04083332 -0.04150834 0.01478195
+v -0.05550548 -0.01448379 0.01478205
+v -0.05551278 -0.01448380 0.01500138
+v -0.05579002 -0.01448383 0.02494461
+v -0.05579002 -0.01446821 0.02491536
+v -0.03353372 -0.02447362 0.16416433
+v -0.04370063 -0.01446858 0.12607304
+v -0.04289078 -0.02669476 0.16416432
+v -0.03375625 -0.02448924 0.16416433
+v -0.05609281 -0.01446828 0.04478719
+v -0.05372527 -0.02412183 0.03487317
+v -0.04968331 -0.03126532 0.01478199
+v -0.05324009 -0.02391096 0.01478201
+v -0.05352463 -0.02412179 0.02494457
+v -0.05595783 -0.01448387 0.03487321
+v -0.05595783 -0.01446825 0.03484396
+v -0.05318537 -0.02412175 0.01478201
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+f 1 44 46
+f 1 46 33
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+f 54 57 56
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+f 57 70 58
+f 60 71 61
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+f 61 72 62
+f 62 72 69
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+f 62 73 74
+f 62 74 63
+f 68 74 73
+f 68 73 69
+f 69 72 70
+f 70 72 75
+f 71 75 72
+
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_20.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ad525941ac3feb1e460adba12908c937fcf4369
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_20.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.02871509 0.00060790 0.11430207
+v 0.02871509 -0.00076804 0.11430207
+v 0.02877238 0.00050052 0.11997556
+v 0.03331872 0.01437579 0.11430212
+v 0.02904371 0.00000928 0.01927117
+v 0.03242332 -0.01448785 0.10437342
+v 0.02877238 -0.00064092 0.11997556
+v 0.02904371 -0.00006700 0.01927117
+v 0.03252281 -0.01448771 0.06465902
+v 0.03332776 0.01437579 0.11434599
+v 0.04721099 -0.00484236 0.16416440
+v 0.04735872 0.00460276 0.16416444
+v 0.04736173 0.00479205 0.16416444
+v 0.04789837 0.00997655 0.16416446
+v 0.04794057 0.01014042 0.16416446
+v 0.03343630 0.01437583 0.10437352
+v 0.03474171 0.01437616 0.01479677
+v 0.03272781 0.00464569 0.01478212
+v 0.03264038 0.00392240 0.01478211
+v 0.03308055 -0.01448789 0.11430202
+v 0.04779285 -0.01035742 0.16416438
+v 0.03496179 -0.01448752 0.01481129
+v 0.03266149 -0.01448767 0.05473041
+v 0.03611345 0.01437577 0.12101380
+v 0.05137746 0.01015455 0.16416446
+v 0.04392183 0.01437575 0.12614626
+v 0.03496179 0.01437616 0.01478215
+v 0.03394881 -0.00479095 0.01478208
+v 0.03626419 -0.01448791 0.12110144
+v 0.04791646 -0.01038850 0.16416438
+v 0.03563409 -0.01369078 0.01478205
+v 0.03628831 -0.01448752 0.01478205
+v 0.05608661 0.00885489 0.16416445
+v 0.05405160 0.01437575 0.12424535
+v 0.05647853 0.01437616 0.01478215
+v 0.04382837 -0.01448793 0.12613154
+v 0.05313812 -0.01057215 0.16416438
+v 0.05602028 -0.01448752 0.01478205
+v 0.05615293 0.00875318 0.16416445
+v 0.05724128 0.01437579 0.11431675
+v 0.05717194 0.01437579 0.11453608
+v 0.05931246 0.00371050 0.01478211
+v 0.05731062 0.01413846 0.11431675
+v 0.04388263 -0.01448793 0.12613154
+v 0.05822411 -0.00992515 0.16416438
+v 0.05394307 -0.01448793 0.12487401
+v 0.05428375 -0.01448793 0.12475703
+v 0.05602330 -0.01447905 0.01478205
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+
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_21.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b171d0db744e7562585a4c06834d9115cca0aec
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_21.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.00293987 0.07015412 0.20681570
+v -0.00434268 0.06991538 0.20681570
+v -0.00436440 0.06503507 0.21362973
+v -0.00093497 0.06802211 0.21025940
+v 0.00126545 0.06802211 0.21025940
+v 0.00326104 0.07014024 0.20681570
+v -0.01405061 0.06260604 0.20681567
+v -0.01112085 0.06001319 0.21362971
+v 0.00464523 0.06505728 0.21362973
+v 0.00467937 0.06505728 0.21362973
+v 0.00849364 0.06690615 0.20681569
+v -0.01566757 0.05297870 0.20681563
+v -0.01167018 0.05297868 0.21362968
+v 0.01151961 0.06002707 0.21362971
+v 0.01152272 0.06002707 0.21362770
+v 0.01439661 0.06258938 0.20681567
+v 0.01404901 0.06284478 0.20681567
+v -0.01332128 0.04428688 0.20681560
+v -0.01000357 0.04755705 0.21362966
+v 0.01205032 0.05298146 0.21362968
+v 0.01603839 0.05297870 0.20681563
+v 0.01602598 0.05310640 0.20681564
+v -0.01291471 0.04408701 0.20681560
+v -0.00464062 0.04491425 0.21362965
+v 0.01033095 0.04758759 0.21362966
+v 0.01368590 0.04427023 0.20681560
+v 0.01381314 0.04466998 0.20681560
+v -0.00464062 0.04181065 0.20681559
+v 0.00498662 0.04179399 0.20681559
+v 0.00498662 0.04494201 0.21362966
+f 1 2 3
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+f 1 4 5
+f 1 5 6
+f 1 6 11
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+f 1 17 16
+f 1 16 22
+f 1 22 21
+f 1 21 27
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+
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_22.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..165efd3628d23e1b098f40c17e1e170b1f77bae1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_22.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.05475191 -0.01996542 0.01478203
+v 0.03032221 -0.01996542 0.01478203
+v 0.05476611 -0.01996540 0.00934114
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+v 0.05480584 -0.01996532 -0.01479992
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+v 0.05628445 -0.01447758 -0.04458758
+v 0.05930978 -0.00308188 -0.00486682
+v 0.03059750 -0.01996535 -0.00547269
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+v 0.03172419 -0.01996510 -0.07437529
+v 0.05481435 -0.01996521 -0.04458760
+v 0.05647176 0.01440714 0.01478215
+v 0.05930978 0.00382224 -0.00486680
+v 0.05923315 0.00479146 -0.06444216
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+v 0.05723803 0.01440743 -0.06444213
+v 0.05905436 -0.00308496 -0.08430827
+v 0.05907139 -0.00325659 -0.07437523
+v 0.05907423 -0.00339793 -0.06444219
+v 0.05929843 -0.00312559 -0.01479986
+v 0.03474669 0.01440714 0.01478215
+v 0.03477790 0.01440724 -0.01479980
+v 0.03483750 0.01440728 -0.02473284
+v 0.03531429 0.01440743 -0.06444213
+v 0.03581378 0.01440747 -0.07494669
+v 0.03810691 0.00146065 -0.10026513
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+v 0.05467529 -0.01996517 -0.05452064
+v 0.05929843 0.00386264 -0.01479984
+v 0.05905436 0.00254062 -0.08430825
+v 0.05895219 0.00238589 -0.09424129
+v 0.05809227 0.01020845 -0.07002019
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+v 0.05895219 -0.00279220 -0.09424131
+v 0.03704832 0.01440749 -0.08239933
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+v 0.04328062 -0.00491186 -0.10199115
+v 0.03810691 -0.00174916 -0.10026515
+v 0.03737186 0.01440750 -0.08430821
+v 0.03432950 -0.01996506 -0.08463981
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+v 0.05386078 -0.01996511 -0.07010031
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+v 0.04368646 -0.01996505 -0.08752028
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+v 0.05092626 -0.01996506 -0.08359965
+v 0.04376592 0.01440753 -0.09304106
+v 0.05005783 0.01440753 -0.09248096
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+
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_23.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e4c1212c5871c1779c2c09b465b32b5077db58b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_23.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.01968600 -0.02977735 0.01478199
+v -0.00306894 -0.02615015 0.01478200
+v -0.01968600 -0.05434438 0.01478190
+v -0.01968600 -0.02977381 0.01499869
+v -0.00324323 -0.02550077 0.04479545
+v 0.00362542 -0.02615015 0.01478200
+v 0.00498805 -0.02399265 0.11430914
+v -0.00463756 -0.05990231 0.01478188
+v -0.01968600 -0.05434439 0.01501064
+v -0.01968600 -0.02881232 0.10437687
+v -0.00355220 -0.02472728 0.10437689
+v 0.02078119 -0.03028842 0.01479403
+v 0.01475231 -0.03102664 0.01478199
+v 0.00413244 -0.02550077 0.04479545
+v 0.02078119 -0.02819105 0.05472769
+v 0.02078119 -0.02827621 0.05274123
+v -0.00349279 -0.02480540 0.11430914
+v -0.00216580 -0.02626412 0.12200209
+v 0.00498805 -0.02645577 0.12202617
+v 0.02078119 -0.02862781 0.11430912
+v 0.02078119 -0.02809185 0.10437688
+v 0.02078119 -0.02810945 0.06465993
+v 0.02078119 -0.02812719 0.06249289
+v -0.00463756 -0.05990232 0.01501062
+v 0.00467512 -0.05987391 0.01478188
+v 0.00498805 -0.06024694 0.11430901
+v -0.00559616 -0.05954422 0.11341811
+v -0.00960881 -0.05794003 0.11981087
+v -0.01968600 -0.05369877 0.10467775
+v -0.01968600 -0.02883717 0.10512330
+v 0.02078119 -0.04417614 0.01478194
+v -0.01968600 -0.02924535 0.11430912
+v -0.01968600 -0.02929504 0.11462213
+v -0.01968600 -0.03271288 0.12288094
+v -0.01968600 -0.03340496 0.12406076
+v -0.00697068 -0.04511712 0.13777323
+v -0.00463756 -0.04475511 0.13777324
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+v -0.00656268 -0.05763133 0.13777319
+v -0.00830559 -0.05644237 0.13777319
+v -0.01968600 -0.05143806 0.12421720
+v 0.00969787 -0.05779058 0.01478189
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+v -0.01142699 -0.05162266 0.13777321
+v 0.02078119 -0.04343835 0.12697418
+v 0.01127441 -0.05121451 0.13777321
+v 0.02078119 -0.04503900 0.12662504
+v -0.01044462 -0.05336883 0.13777320
+f 1 2 6
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+
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_24.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaff463500d52fd8a30745e4cce85f02e53b2210
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_24.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.04984776 -0.03375623 0.17289408
+v 0.04917639 -0.03783279 0.17289406
+v 0.04481378 -0.03375619 0.16416432
+v 0.04477165 -0.03356813 0.16416432
+v 0.04295237 -0.02613409 0.16416434
+v 0.04455839 -0.02410415 0.17289411
+v 0.04060388 -0.04074220 0.16416429
+v 0.03976927 -0.04966420 0.17289402
+v 0.03387961 -0.02419538 0.16416435
+v 0.03387961 -0.02416223 0.17289411
+v 0.03488536 -0.04545209 0.16416427
+v 0.03332145 -0.05234134 0.17289401
+v 0.02995405 -0.04872661 0.16416426
+v 0.02709216 -0.02695549 0.16416434
+v 0.02711586 -0.02699701 0.17289410
+v 0.03323720 -0.05235793 0.17289401
+v 0.02855865 -0.04872661 0.16416426
+v 0.02703424 -0.02708823 0.16416434
+v 0.02454094 -0.03306759 0.17289408
+v 0.02533869 -0.05189883 0.17289401
+v 0.02838752 -0.04871831 0.16416426
+v 0.02425133 -0.03375623 0.17289408
+v 0.02425133 -0.03375619 0.16416432
+v 0.02505961 -0.05138443 0.17289401
+v 0.02560198 -0.04356592 0.16416428
+v 0.02422237 -0.03394149 0.16416432
+v 0.02295334 -0.04221909 0.17289404
+v 0.02317450 -0.04377062 0.17289404
+v 0.02555985 -0.04339998 0.16416428
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 15
+f 1 15 19
+f 1 19 22
+f 1 22 27
+f 1 27 28
+f 1 28 24
+f 1 24 20
+f 1 20 16
+f 1 16 12
+f 1 12 8
+f 1 8 2
+f 2 7 3
+f 2 8 7
+f 3 7 11
+f 3 11 13
+f 3 13 17
+f 3 17 21
+f 3 21 25
+f 3 25 29
+f 3 29 26
+f 3 26 23
+f 3 23 18
+f 3 18 14
+f 3 14 9
+f 3 9 5
+f 3 5 4
+f 5 9 6
+f 6 9 10
+f 7 8 11
+f 8 12 13
+f 8 13 11
+f 9 14 10
+f 10 14 15
+f 12 16 13
+f 13 16 17
+f 14 18 15
+f 15 18 19
+f 16 20 21
+f 16 21 17
+f 18 22 19
+f 18 23 22
+f 20 24 21
+f 21 24 25
+f 22 23 26
+f 22 26 27
+f 24 28 29
+f 24 29 25
+f 26 29 27
+f 27 29 28
+
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_25.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a7571e239751d6177d2a592ff3b72dee1412c52
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_25.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.03352463 -0.02396279 0.17289411
+v -0.03352463 -0.02447399 0.16416435
+v -0.03374867 -0.02449062 0.16416435
+v -0.04386337 -0.02483981 0.17289411
+v -0.03282615 -0.02418724 0.17289411
+v -0.02676392 -0.02663120 0.16416434
+v -0.04288814 -0.02669771 0.16416434
+v -0.04395563 -0.02486059 0.17289411
+v -0.02654647 -0.02662709 0.17289410
+v -0.02662554 -0.02668524 0.16416434
+v -0.04298040 -0.02695541 0.16416434
+v -0.05113806 -0.03375959 0.17289408
+v -0.04893062 -0.02899627 0.17289409
+v 0.01322048 -0.04667373 0.17289403
+v 0.01052543 -0.04764215 0.16416427
+v -0.04531963 -0.03375955 0.16416432
+v -0.04543165 -0.04337765 0.17289404
+v -0.04523397 -0.03398399 0.16416432
+v 0.01617912 -0.05240135 0.17289401
+v 0.01053860 -0.05013188 0.16416426
+v -0.04081249 -0.04101258 0.16416429
+v -0.04313854 -0.04570527 0.17289403
+v 0.01266698 -0.06004925 0.17289398
+v 0.00888467 -0.05484531 0.16416424
+v -0.03388704 -0.04590890 0.16416427
+v -0.03268777 -0.05260917 0.17289401
+v 0.00852884 -0.06580596 0.17289396
+v 0.00399534 -0.06003674 0.16416422
+v -0.02918222 -0.04847344 0.16416426
+v -0.00497281 -0.06642527 0.17289396
+v 0.00531981 -0.06627148 0.17289396
+v -0.00121686 -0.06638786 0.17289396
+v -0.00356927 -0.06003674 0.16416422
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 12
+f 1 12 17
+f 1 17 22
+f 1 22 26
+f 1 26 30
+f 1 30 32
+f 1 32 31
+f 1 31 27
+f 1 27 23
+f 1 23 19
+f 1 19 14
+f 1 14 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 15
+f 2 15 20
+f 2 20 24
+f 2 24 28
+f 2 28 33
+f 2 33 29
+f 2 29 25
+f 2 25 21
+f 2 21 18
+f 2 18 16
+f 2 16 11
+f 2 11 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 6
+f 6 9 10
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 9 14 10
+f 10 14 15
+f 11 16 12
+f 12 16 18
+f 12 18 17
+f 14 19 15
+f 15 19 20
+f 17 18 21
+f 17 21 22
+f 19 23 24
+f 19 24 20
+f 21 25 22
+f 22 25 26
+f 23 27 24
+f 24 27 28
+f 25 29 26
+f 26 29 30
+f 27 31 28
+f 28 32 30
+f 28 30 33
+f 28 31 32
+f 29 33 30
+
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_26.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92081ad9dc41fba50fb5923485a7e967f8be4eb6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_26.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.02474832 0.04267897 0.17289436
+v -0.02607975 0.03492324 0.16416457
+v -0.02474832 0.04333246 0.17289436
+v -0.02555597 0.03338122 0.17289432
+v -0.02609974 0.03472261 0.16416457
+v -0.02607975 0.04179624 0.16416459
+v -0.03377644 0.04611834 0.17289437
+v -0.04528350 -0.00480150 0.17289418
+v -0.04729064 -0.00269198 0.16416443
+v -0.02629965 0.04180771 0.16416459
+v -0.03633934 0.04601516 0.17289437
+v -0.03276088 0.04180771 0.16416459
+v -0.04938174 -0.01046500 0.17289416
+v -0.05287624 -0.00748990 0.16416441
+v -0.04595121 0.03660276 0.17289433
+v -0.03769076 0.03768620 0.16416458
+v -0.05223251 -0.01243690 0.17289415
+v -0.05311613 -0.00761028 0.16416441
+v -0.06455922 0.00731654 0.17289423
+v -0.04173702 0.03298573 0.16416456
+v -0.06220023 -0.00914084 0.17289417
+v -0.05889765 -0.00548360 0.16416442
+v -0.05901760 0.00293138 0.16416445
+v -0.06556679 -0.00186657 0.17289419
+v -0.06559078 -0.00525435 0.17289418
+v -0.05902160 0.00267343 0.16416445
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 15
+f 1 15 19
+f 1 19 24
+f 1 24 25
+f 1 25 21
+f 1 21 17
+f 1 17 13
+f 1 13 8
+f 1 8 4
+f 1 4 2
+f 2 5 9
+f 2 9 14
+f 2 14 18
+f 2 18 22
+f 2 22 26
+f 2 26 23
+f 2 23 20
+f 2 20 16
+f 2 16 12
+f 2 12 10
+f 2 10 6
+f 2 4 5
+f 3 6 7
+f 4 8 5
+f 5 8 9
+f 6 10 7
+f 7 10 12
+f 7 12 11
+f 8 13 9
+f 9 13 14
+f 11 12 16
+f 11 16 15
+f 13 17 14
+f 14 17 18
+f 15 16 20
+f 15 20 19
+f 17 21 18
+f 18 21 22
+f 19 23 24
+f 19 20 23
+f 21 25 22
+f 22 25 26
+f 23 26 24
+f 24 26 25
+
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_27.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..951205bdec4672bf190fbcaf9691c2c1a4bf0681
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_27.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00462803 0.00650190 0.17289422
+v 0.00474273 0.00642337 0.17289422
+v 0.00558505 0.00341853 0.16416527
+v 0.00289679 0.00174509 0.15797952
+v -0.00168757 0.00174509 0.15797952
+v -0.00346361 0.00334698 0.16397109
+v -0.00349408 0.00338537 0.16416527
+v -0.00486330 0.00507623 0.17289422
+v 0.00530726 0.00603598 0.17289422
+v 0.01032354 0.00082196 0.16649532
+v 0.00669440 0.00265771 0.16416527
+v 0.00565853 0.00318121 0.16349954
+v 0.01032354 -0.00150238 0.16649531
+v 0.00238782 -0.00484228 0.15816783
+v -0.00134527 -0.00484228 0.15816783
+v -0.00463928 -0.00484230 0.16397106
+v -0.00469483 -0.00483880 0.16416524
+v -0.00714473 -0.00464166 0.17289418
+v -0.00709634 -0.00431011 0.17289418
+v -0.00354247 0.00318121 0.16416527
+v 0.01116407 0.00159322 0.17289421
+v 0.01116407 -0.00240981 0.17289419
+v 0.00776253 -0.00711781 0.17289417
+v 0.00766755 -0.00403960 0.16416525
+v 0.00690767 -0.00476377 0.16349951
+v 0.00040389 -0.00974397 0.15891529
+v 0.00001140 -0.00974397 0.15891529
+v -0.00100117 -0.01033729 0.16397104
+v -0.00194206 -0.01132500 0.17289416
+v 0.00723384 -0.00767098 0.17289417
+v 0.00696860 -0.00493129 0.16416524
+v 0.00173726 -0.01033729 0.16397104
+v 0.00290576 -0.01132500 0.17289416
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 19
+f 1 19 18
+f 1 18 29
+f 1 29 33
+f 1 33 30
+f 1 30 23
+f 1 23 22
+f 1 22 21
+f 1 21 9
+f 1 9 2
+f 2 9 10
+f 2 10 3
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 10
+f 4 10 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 7
+f 7 20 19
+f 7 19 8
+f 9 21 10
+f 10 21 22
+f 10 22 13
+f 10 12 11
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 16
+f 16 27 28
+f 16 28 17
+f 17 28 18
+f 18 28 29
+f 23 30 31
+f 23 31 24
+f 24 31 25
+f 25 31 32
+f 25 32 26
+f 26 32 28
+f 26 28 27
+f 28 32 33
+f 28 33 29
+f 30 33 32
+f 30 32 31
+
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_28.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..996de8833db1d15589f0ee4c98650b38abac317d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_28.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.01142945 -0.04648293 0.13777323
+v -0.01142945 -0.05162522 0.13777321
+v -0.01104495 -0.04674624 0.15403771
+v -0.00697329 -0.04511883 0.13777323
+v -0.01104495 -0.05147721 0.15403769
+v -0.01044487 -0.05336923 0.13777320
+v -0.00835125 -0.05590307 0.16416421
+v -0.01074491 -0.04720545 0.16416425
+v -0.01073380 -0.04705439 0.16416425
+v -0.00463964 -0.04605674 0.16416425
+v -0.00463964 -0.04475837 0.13777324
+v -0.01074491 -0.05111527 0.16416423
+v -0.00830680 -0.05644144 0.13777319
+v -0.00837126 -0.05641005 0.14411003
+v -0.00834459 -0.05629492 0.15403767
+v -0.00825791 -0.05605564 0.16416421
+v 0.00498833 -0.04664905 0.16416425
+v 0.00498833 -0.04521755 0.13777323
+v 0.00150119 -0.04503508 0.13777323
+v -0.00656435 -0.05763204 0.13777319
+v -0.00356394 -0.06003725 0.16416420
+v 0.01036017 -0.04760781 0.16416425
+v 0.01127585 -0.04694212 0.13777323
+v 0.01052686 -0.04764370 0.16416424
+v 0.01092024 -0.04725778 0.15403771
+v -0.00349282 -0.05964229 0.13777318
+v 0.00399708 -0.06003575 0.16416420
+v 0.00379928 -0.05964229 0.13777318
+v 0.01127585 -0.05121689 0.13777321
+v 0.01054019 -0.05013707 0.16416424
+v 0.01092024 -0.05109729 0.15403769
+v 0.00879329 -0.05591351 0.15403767
+v 0.00888441 -0.05484560 0.16416422
+v 0.00861326 -0.05603461 0.13777319
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 11
+f 1 11 19
+f 1 19 18
+f 1 18 23
+f 1 23 29
+f 1 29 34
+f 1 34 28
+f 1 28 26
+f 1 26 20
+f 1 20 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 12
+f 3 12 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 5 7 12
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 16 21
+f 7 21 27
+f 7 27 33
+f 7 33 30
+f 7 30 24
+f 7 24 22
+f 7 22 17
+f 7 17 10
+f 7 10 9
+f 7 9 8
+f 7 8 12
+f 7 15 16
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 13 20 21
+f 13 21 14
+f 14 21 15
+f 15 21 16
+f 17 22 18
+f 18 22 24
+f 18 24 25
+f 18 25 23
+f 20 26 21
+f 21 26 28
+f 21 28 27
+f 23 25 31
+f 23 31 29
+f 24 30 25
+f 25 30 31
+f 27 32 33
+f 27 28 34
+f 27 34 32
+f 29 31 32
+f 29 32 34
+f 30 33 31
+f 31 33 32
+
diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_3.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4866ad77ff34fe365aee0fc3d075b8ea172772e0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_3.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.03084771 -0.01996542 0.01478203
+v -0.02507542 0.02469610 -0.02571404
+v -0.02507542 0.02468179 -0.02473017
+v -0.02507542 0.02465316 -0.01587531
+v -0.02507542 0.02463166 -0.00601034
+v -0.02507542 0.02463166 -0.00486904
+v -0.02507542 0.02470315 0.00393335
+v -0.02507542 0.02482469 0.01395574
+v -0.02507542 0.02483899 0.01478219
+v -0.05418568 -0.01996542 0.01478203
+v -0.03118941 -0.01996528 -0.02358903
+v -0.02507542 0.02550440 -0.07438298
+v -0.02507542 0.02549010 -0.07398943
+v -0.02507542 0.05268709 0.01478229
+v -0.05372787 -0.01996528 -0.02473033
+v -0.05895611 -0.00311639 0.01478209
+v -0.05894947 -0.00343080 -0.05450884
+v -0.05895942 -0.00335925 -0.06443940
+v -0.05895942 -0.00326625 -0.07438308
+v -0.05893952 -0.00320184 -0.08431364
+v -0.03167706 -0.01996510 -0.07438314
+v -0.02507542 0.02606941 -0.08344773
+v -0.03096714 0.05003387 0.01478228
+v -0.02507542 0.05304488 -0.04300388
+v -0.05885659 -0.00303732 -0.09424420
+v -0.05249380 -0.01996510 -0.07438314
+v -0.05895611 0.00344158 0.01478211
+v -0.05895942 0.00324878 -0.06443938
+v -0.05895942 0.00305571 -0.07438306
+v -0.05893952 0.00284121 -0.08431362
+v -0.03282820 -0.01996507 -0.08193929
+v -0.02507542 0.03093970 -0.10770347
+v -0.02507542 0.02939495 -0.10417464
+v -0.02507542 0.02848670 -0.10161659
+v -0.02507542 0.02684896 -0.09284044
+v -0.03112306 0.04996235 0.01478228
+v -0.02507542 0.05309497 -0.05292131
+v -0.05885659 0.00263385 -0.09424418
+v -0.05838883 -0.00193596 -0.10038358
+v -0.05615622 -0.00785746 -0.09424422
+v -0.05164454 -0.01996508 -0.07922380
+v -0.05005219 0.03155429 0.01478222
+v -0.05022801 0.03157599 -0.05450871
+v -0.05019815 0.03151882 -0.06443927
+v -0.05014839 0.03150455 -0.07438295
+v -0.03328601 -0.01996506 -0.08426123
+v -0.02507542 0.03385039 -0.11040583
+v -0.03520347 -0.01996504 -0.09064985
+v -0.03119936 0.05004116 -0.02473008
+v -0.03607927 0.04655865 -0.10417458
+v -0.03615225 0.04643704 -0.09424402
+v -0.04161933 0.04173851 -0.10417460
+v -0.02507542 0.05308783 -0.05450863
+v -0.03119604 0.04999128 -0.07438289
+v -0.03122258 0.05004123 -0.04459120
+v -0.03122590 0.05004835 -0.03466064
+v -0.04913658 0.03145459 -0.10417463
+v -0.05838883 0.00163266 -0.10038356
+v -0.04858921 0.02784309 -0.11099617
+v -0.03896541 0.02865840 -0.11918199
+v -0.05299141 -0.00502542 -0.10211520
+v -0.04991617 -0.01070375 -0.10054102
+v -0.05065264 -0.01996506 -0.08486468
+v -0.04629025 0.03641773 -0.09424406
+v -0.05019815 0.03158310 -0.04459126
+v -0.04642958 0.03626758 -0.10417462
+v -0.02650523 0.03395052 -0.11474800
+v -0.02657821 0.04278268 -0.11430193
+v -0.02507542 0.04306157 -0.10922515
+v -0.03664322 -0.01996503 -0.09305050
+v -0.03126571 0.04934060 -0.10417457
+v -0.03028375 0.04885432 -0.11111416
+v -0.03993409 0.04010085 -0.11410517
+v -0.02507542 0.05301635 -0.06443920
+v -0.02507542 0.05293771 -0.07438288
+v -0.04858921 0.03036044 -0.11099616
+v -0.03883935 0.03370024 -0.11916887
+v -0.03382343 0.03395054 -0.11923446
+v -0.03723041 0.02865840 -0.11918199
+v -0.04546421 -0.01070375 -0.10054102
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diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_4.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..304985a573007122aba7b5c2c84ce3632340be95
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_4.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_5.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f7230a045910401f95126dde272721430e8dec6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_5.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_6.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c781936511b0b440cc76328b16649f5398f22aad
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_6.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_7.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0292273c46de128c91f10c363802a379cceb654e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_7.obj
@@ -0,0 +1,1168 @@
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diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_8.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fa29716ad81cfcccd6ad098eb9051ad0b72b5a8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_8.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_9.obj b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dd38405931f63bf2418d341db141c07167f086e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/mjcf/mesh/wind_chime_45_collision_9.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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