diff --git a/.gitattributes b/.gitattributes
index 21697f89e3c580390eeb0a09be88d8b95796a6ed..32499725fab2605b1a3df7ad92d6b2eecdad2433 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4979,7 +4979,5 @@ dataset/livingroom_supplies/ornaments/918d6f360aab5299aa0089047173f6a2/houseplan
dataset/livingroom_supplies/ornaments/918d6f360aab5299aa0089047173f6a2/mesh/houseplant_025.glb filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/candle_holder_031.usd filter=lfs diff=lfs merge=lfs -text
dataset/livingroom_supplies/ornaments/8f37fba45a6e54c0be79d5ea43c6ee92/mesh/candle_holder_031.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/9a135423e8d958fbb6b903a0d3a9655a/candle_holder_019.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/9a135423e8d958fbb6b903a0d3a9655a/mesh/candle_holder_019.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/9a135423e8d958fbb6b903a0d3a9655a/mesh/candle_holder_019.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/9a135423e8d958fbb6b903a0d3a9655a/mjcf/mesh/candle_holder_019.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/houseplant_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mesh/houseplant_006.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/houseplant_006.urdf b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/houseplant_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b9b99d50fa4653fde18e21d5c6ad5a10813f0c37
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+ affordance/affordance_annot.json
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+ YES
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/houseplant_006.usd b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/houseplant_006.usd
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/houseplant_006.usd
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mesh/houseplant_006.glb b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mesh/houseplant_006.glb
new file mode 100644
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mesh/houseplant_006.mtl b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mesh/houseplant_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..906473f714094cbfec6f83df586a99b8f88b067e
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+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mesh/houseplant_006.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mesh/houseplant_006.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mesh/houseplant_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ed485ad4a99415d33b0ecded04813a91a5d8300
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mesh/houseplant_006.obj
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+mtllib material.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mesh/houseplant_006_collision.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mesh/houseplant_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65eff5e7af3cfc6063da5e4ccfcc4c92255c073d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mesh/houseplant_006_collision.obj
@@ -0,0 +1,20612 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mesh/houseplant_006_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mesh/houseplant_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8978597c5596a6ee268afa1c015029e876d49763
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mesh/houseplant_006_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc4013b791b375cfd1eab7e78f43eaad707d3b293fb96f748da10b0f6047b9e1
+size 13626097
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3e57796db1cae3b00ebc4e0178afd29044948d2d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl houseplant_006_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd houseplant_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8978597c5596a6ee268afa1c015029e876d49763
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc4013b791b375cfd1eab7e78f43eaad707d3b293fb96f748da10b0f6047b9e1
+size 13626097
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/houseplant_006.xml b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/houseplant_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..58ebc8e71d5e67b988dfea5fc145e1ae28152be8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/houseplant_006.xml
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a673e8598b3216963fc1da1b2f80ec38cc5d49f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7953ff4fc98a941d607cc0b8cbba02d449293df0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision.obj
@@ -0,0 +1,20612 @@
+# https://github.com/mikedh/trimesh
+
+o houseplant_006_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_0.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91e1fbe5a9fa365acd853801dc0596321a9d8820
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_1.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f244ecc29f9901ed5d07c9692e9af0892bead079
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_1.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_10.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fa2df5fa7860f85187bca9c6638f74b313a3697
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_10.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_11.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bc8c2c66ad1a6b3d96124c95e61b8c9bee2d043
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_11.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_12.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4fe7ac2958893fc940a7c0ca69e57c2aa3c9f74
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_12.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_13.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79cdfaa1b4d945e1387ebbf173b21238fb970a5e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_13.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_14.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff2aac399f5730f6edef91cd5de42ec9cb6d3bdd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_14.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_15.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98c5cbf9e5a8efe305ac77891d27fa46cebe32c5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_15.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_16.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96d146b743176ff089abc9d5e683bbc6a941e70d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_16.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_17.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad9b2e84b58073f97bc8ff4b51ae11f9d971090c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_17.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_18.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ead1e5527a39c7693ea6be9c920d8c1bb98dac85
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_18.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_19.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..144c1720b745a7fab80fc2e42be9a869c85f106c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_19.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_2.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5008192badb896c8943ebd43bcca1b4aa002fb37
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_2.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_20.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ed651b64d6e83d25305f069c02f39df071f4a5f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_20.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_21.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dedbcb29e731c05e20b1e57907fae49e0a1276be
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_21.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_22.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d99fe2afac38ac2eb5ba14944ebadb5c07284f2d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_22.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_23.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2efadbb8a610a76a4da34b810dd76faa148dc320
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_23.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_24.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67d0ea3a793eaa51187a82a239a4e3b383c1cbb1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_24.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.01391813 0.09558512 0.02199634
+v -0.01391813 0.09551173 0.02247315
+v -0.01133435 0.09501490 0.02247315
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+v -0.00210847 0.07635934 0.02746812
+v -0.00718851 0.07635933 0.02875918
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_25.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1777c6db4431868690b8c73dd9c96b77ac06c9b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_25.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.07953735 0.01765431 0.08722184
+v -0.07624963 0.01095224 0.09048347
+v -0.07953735 0.01765431 0.08803865
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+v -0.07886739 0.01765431 0.08722184
+v -0.06328172 0.00260514 0.08860150
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+v -0.07624963 0.01095224 0.09092182
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+v -0.07953735 0.01778330 0.08803866
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_26.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8243a8e34748666305f990c44bb4783df62952f8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_26.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00140092 0.01460175 -0.02446827
+v -0.00981015 0.01284886 -0.02446827
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_27.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfc1753c0a99510b8e744745eed4a424e77ebaee
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_27.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.04854218 0.05276009 -0.00332008
+v 0.04913261 0.05015492 -0.00332009
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_28.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecc5fa917c1f3b59c7e81d4db337e85fd9e36ec2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_28.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_29.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61675b391758f20a2bf6a5c608d05567ec79caaf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_29.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_3.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6763c69206474b13333ad1e2ac5c70610b2d231
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_3.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_30.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac65b2f8724b262a1d33ad4a5174d7504ce1601d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_30.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_31.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a190179aaf8e407ce26335eb87650d7e8d1793db
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_31.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_32.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6ce2ac95805074754342ffbe7ecbcc29cf693f1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_32.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_33.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a412a22d05970431e6c28dd095a65ed63b8dbdae
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_33.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_34.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aeca8b9672f02a98cdc8de8e4de3dac28398149
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_34.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_35.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1120de4bb0800611dc4e3fadbb5494db55dbb23c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_35.obj
@@ -0,0 +1,163 @@
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_36.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..407552220863a755e4ece8dd34bdc7b28220874e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_36.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.06557278 0.04624664 -0.01418144
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_37.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6cf5cf1383c7898f7f566f426fd91292cd4c7fd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_37.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_38.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3a55b7d357f260cdcaddaa424d88edf7cc1144a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_38.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v 0.01872053 0.02581797 -0.02113746
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_39.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0ccdcb0c8e936d17572c0bdb11cc616d96f0748
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_39.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_4.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25a5de5d20f0c255c2e6ab316078fc5e59c382ac
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_4.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_40.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53adc70f6ddc93c62ed7390109ffe370d90f3ad7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_40.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_41.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f55cea264811340b8ac23bb09da56637959a16b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_41.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_42.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a33091b6178e464627d514f7895620d5b95b19d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_42.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_43.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f9849861b89764d0e88842ec47e5a40152508e0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_43.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_44.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac677589a435639492090da79fd45db858c96797
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_44.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.00602260 0.08867772 0.00800394
+v -0.00608268 0.08867772 0.00919736
+v -0.00627199 0.08867773 0.00668698
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_45.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b75e9b3743e86df3e3e243230ad886c9c66825fc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_45.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.01288347 0.05587405 0.02230519
+v 0.01460781 0.05235213 0.02198735
+v 0.01264848 0.05587405 0.02198737
+v 0.01273142 0.05587404 0.02532992
+v 0.01451105 0.04941886 0.02198734
+v 0.00759986 0.05587405 0.02198737
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+v 0.01296640 0.04940688 0.02314403
+v 0.01283163 0.04721592 0.02198733
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+v -0.01992742 0.03548882 0.02198729
+v 0.01183296 0.05050635 0.02444619
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+v 0.01012936 0.05587403 0.02707841
+v 0.00820113 0.05411606 0.02755562
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_46.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1674324aac72ba88f7f387ef8e17301b4beaffe2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_46.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.01718419 -0.00334126 0.00373123
+v 0.01753559 -0.00304061 0.00507650
+v 0.01718419 -0.00130188 0.00373124
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_47.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b935c82d0e6dc26e45d672b5459cbec865ce4443
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_47.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.03654155 -0.00869075 0.00125496
+v 0.03872888 -0.00883327 0.00109553
+v 0.03654155 -0.00869075 0.00007853
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_48.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3107a4f90e54fdd113d12a5efb7ea624f8e8d99
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_48.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_49.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96857b2ea1c5ab66615ffb0da99c78a7c3ce7318
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_49.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.01833575 0.02540813 0.00870853
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_5.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf12f5888302de1207687f0b96342e30cfcae8cd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_5.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_50.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17dcb51406b39273034d45b2a38b11840aee2b32
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_50.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.01970004 -0.01053666 -0.01339144
+v 0.02291883 -0.01067477 -0.01339144
+v 0.01995054 -0.01358075 -0.01339145
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_51.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c1449617598e06fc02fe132d8c9ca50adabcd05
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_51.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.01391370 -0.01722109 -0.03933834
+v 0.01424161 -0.01944093 -0.03933835
+v 0.01433425 -0.01940432 -0.03847766
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_52.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d3390e32017a4e64f601f6cdb89b47467ff0875
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_52.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_53.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..489cc5a85e65ffa7e2e7346dcd1134ad486e0466
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_53.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.01618807 -0.00392725 0.03216523
+v -0.01088565 -0.00392717 0.01148363
+v -0.01008216 -0.00392725 0.03216523
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_54.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a172ca9b8d98baba24064d6dd7c3f837e0807da
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_54.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.00066399 0.01899019 -0.00332020
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_55.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f17def73b09bcb38385ef1b2a7ea0374c3a0bcb8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_55.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_56.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60c82096b05e02c566b0846ad1f99861d4bcc0be
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_56.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_57.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c35875f2b544e807c5a766dd97b3393d9c2bd45
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_57.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.01244468 -0.01485310 -0.02446836
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_58.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29102b62a4c164a84d4d8316b7961e1dd50f8c59
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_58.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.01646291 -0.02969532 0.00311929
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+v 0.03501103 -0.04628030 0.00915609
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_59.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20fefeb9795fa950fafec153b128482a4a3a8b70
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_59.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.00136220 -0.01539182 -0.03933834
+v -0.00076507 -0.01619977 -0.03933834
+v -0.00691583 -0.01321788 -0.03933648
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+v -0.01294593 -0.01734500 -0.02044202
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+v -0.01245709 -0.01540215 -0.02044202
+v -0.00814722 -0.00812025 -0.03732771
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+v -0.01199918 -0.01987499 -0.02044203
+v -0.01208582 -0.01850729 -0.02229356
+v -0.01273245 -0.01880856 -0.02044203
+v 0.00491232 -0.02245284 -0.03927177
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+v -0.01242924 -0.01539188 -0.02044202
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+v -0.00465725 -0.00812030 -0.02504214
+v 0.01442001 -0.00812025 -0.03681350
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_6.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f3402d502f9fbbb5c0a36e72b9186777fff01a5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_6.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.01045151 0.01324414 0.00264504
+v 0.00980589 0.01324415 -0.00046147
+v 0.01028018 0.01324414 0.00349122
+v -0.00267834 -0.00712536 0.00616008
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+v 0.00300276 0.00610666 -0.00332025
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+v -0.00349530 -0.00712537 0.00918256
+v -0.00345143 -0.00712537 0.00902318
+v -0.00380454 -0.00712534 -0.00071657
+v -0.00464657 -0.00628375 -0.00332029
+v 0.00198940 0.00840207 -0.00332024
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+v -0.00052207 0.00850776 -0.00332024
+v 0.00375495 0.01324415 0.00057452
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+v -0.00381707 -0.00712534 -0.00071657
+v -0.00567456 -0.00628375 -0.00332029
+v -0.00228971 0.00787159 -0.00332024
+v 0.00244489 0.01324414 0.00254072
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+v -0.01066198 -0.00712538 0.01148202
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+v 0.00777289 0.01324411 0.01065041
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+v -0.00163155 0.01324411 0.01148210
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_60.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c12afbeda7876040f6d1cc064f62c272576ce3b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_60.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.04998353 0.00814835 0.02142276
+v 0.04998353 0.00605519 0.02243286
+v 0.05260505 0.00808235 0.02128022
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+v 0.04019628 0.00271979 0.02289568
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+v 0.06556206 0.00271980 0.01779582
+v 0.06990937 0.00271981 0.01499425
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_61.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a468461e126b2f3cfbbaeebef53c450cf37968a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_61.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.01062873 -0.01538915 -0.02446631
+v -0.01053822 -0.01410350 -0.02446630
+v -0.00697486 -0.01538915 -0.02446631
+v -0.02793933 -0.01539051 -0.01339339
+v -0.02213673 -0.01538917 -0.01896815
+v -0.02039025 -0.00686715 -0.02077737
+v -0.01019965 -0.01369612 -0.02446630
+v -0.00697486 -0.01354533 -0.02446630
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+v -0.01149023 -0.01539051 -0.01339339
+v -0.03903501 -0.01539055 -0.00332240
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+v -0.02389326 -0.01538918 -0.01766606
+v -0.01765823 -0.00686715 -0.02097610
+v -0.04122063 -0.01395809 -0.00332239
+v -0.04107648 -0.01060642 -0.00332238
+v -0.02234121 -0.00686716 -0.01909646
+v -0.02702754 -0.00187804 -0.01339334
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+v -0.01903932 -0.00187804 -0.01339334
+v -0.01880802 -0.00187806 -0.00743769
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+v -0.02059138 -0.00187808 -0.00332235
+v -0.01689393 -0.01539054 -0.00531797
+v -0.01480218 -0.01539053 -0.00809396
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_62.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d42605d3ad22b99641c602f33455c9f9edf42f21
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_62.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.01391398 -0.02454303 -0.00331689
+v 0.01383397 -0.02454303 -0.00332036
+v 0.01383397 -0.02449461 -0.00332036
+v 0.00186617 -0.01132652 -0.00332031
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+v -0.00739665 -0.00393569 0.02245326
+v -0.00876607 -0.00393571 0.02780596
+v -0.01008318 -0.00393573 0.03216523
+v 0.00804548 -0.02454309 0.01250848
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+v -0.00226671 -0.00712881 0.00168505
+v -0.00216208 -0.00712881 0.00254301
+v -0.00380231 -0.00712880 -0.00071516
+v -0.01088637 -0.00393565 0.01148387
+v -0.01618864 -0.00393573 0.03216523
+v -0.00002640 -0.02454316 0.03216515
+v 0.00416494 -0.02454312 0.02218572
+v 0.00544820 -0.02454311 0.01911860
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+v -0.01088944 -0.00395381 0.01148387
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+v -0.01683488 -0.01752743 0.03216518
+v -0.01689951 -0.01729748 0.03216518
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_63.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8879bfa4a3ba44edb6a2d07ac83868c2ec63e6d9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_63.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00887381 -0.02560765 -0.02879943
+v 0.00830134 -0.02560764 -0.03185798
+v 0.00880154 -0.02560766 -0.02619866
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+v 0.00779354 -0.02560764 -0.03279476
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+v 0.00939873 -0.03005907 -0.02044207
+v 0.01908694 -0.03665816 -0.02044209
+v 0.00626062 -0.02560764 -0.03318518
+v 0.01143565 -0.03912727 -0.02044210
+v 0.00569575 -0.02973766 -0.02044207
+v 0.00667142 -0.02560767 -0.02509474
+v 0.00434161 -0.02586988 -0.03275360
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+v 0.00984567 -0.03934513 -0.02044210
+v 0.00501488 -0.02560767 -0.02564358
+v 0.00244923 -0.03064542 -0.02044207
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+v 0.00287526 -0.03556885 -0.02044209
+v 0.00088778 -0.03391740 -0.02044208
+v 0.00730665 -0.03842796 -0.02044210
+v 0.00641657 -0.03803796 -0.02044210
+v 0.00091631 -0.03254701 -0.02044208
+v 0.00399357 -0.02560765 -0.03058691
+v 0.00466113 -0.02560767 -0.02577082
+v 0.00460597 -0.02567088 -0.02571593
+v 0.00163522 -0.03094666 -0.02044207
+v 0.00419326 -0.02560766 -0.02759198
+f 1 2 5
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+f 1 16 21
+f 1 21 31
+f 1 31 35
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+f 1 32 23
+f 1 23 19
+f 1 19 13
+f 1 13 6
+f 1 6 3
+f 1 3 4
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+f 30 34 31
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+f 32 35 33
+f 33 35 34
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_64.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb9e7c03c72faef6fc76618758520241fdcea77c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_64.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.01294657 -0.01734590 -0.02044202
+v -0.01246349 -0.01540080 -0.02044202
+v -0.01273476 -0.01881031 -0.02044203
+v -0.02245194 -0.01917750 -0.01912975
+v -0.02245194 -0.01821699 -0.01912975
+v -0.02051594 -0.01539049 -0.01939119
+v -0.01243377 -0.01539048 -0.02044202
+v -0.01200272 -0.01987401 -0.02044203
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_65.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19a01fe71736a333736701cd439680246c87ad7b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_65.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_66.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cc593563ffb6bcd58187409fca82a0d48f04218
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_66.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_67.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4434e6dabaad3fc98740a449d4a3888dc940f02
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_67.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+f 22 32 33
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+f 28 35 29
+f 29 36 37
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+f 29 38 30
+f 29 35 36
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+f 37 48 38
+f 38 48 39
+f 44 49 45
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+f 51 53 52
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_68.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de4bef9c980f3187328f81d9960dd69c7041b0d4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_68.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00140242 0.00867213 -0.03933680
+v 0.00140242 0.00867208 -0.02446829
+v 0.00140242 0.01062580 -0.03933679
+v 0.01076774 0.00867213 -0.03933680
+v 0.00140242 0.01460208 -0.02446827
+v 0.00297128 0.00867208 -0.02446829
+v 0.01023830 0.02166068 -0.02446824
+v 0.00304008 0.01186754 -0.03933679
+v 0.01134653 0.00933991 -0.03933680
+v 0.01184306 0.01023948 -0.03732812
+v 0.01047012 0.00867213 -0.03732813
+v 0.00606564 0.00867209 -0.02740269
+v 0.00523709 0.01014285 -0.02446828
+v 0.01283014 0.02276721 -0.02446824
+v 0.00962362 0.01342661 -0.03933678
+v 0.01167406 0.01034848 -0.03933679
+v 0.01667976 0.01939520 -0.02446825
+v 0.01166060 0.01064372 -0.03400508
+v 0.01572857 0.01748706 -0.02446826
+v 0.01044320 0.00867213 -0.03716511
+v 0.00562594 0.01040500 -0.02446828
+v 0.00938732 0.00867212 -0.03404003
+v 0.01139289 0.01093897 -0.03222057
+v 0.01542497 0.01716834 -0.02446826
+v 0.01334163 0.02268857 -0.02446824
+v 0.01588112 0.02228845 -0.02446824
+v 0.01047012 0.01292854 -0.03933678
+v 0.01171892 0.01208002 -0.03933679
+f 1 2 5
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+f 1 15 27
+f 1 27 28
+f 1 28 16
+f 1 16 9
+f 1 9 4
+f 1 4 11
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+f 1 20 22
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+f 1 12 6
+f 1 6 2
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+f 2 19 17
+f 2 17 26
+f 2 26 25
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+f 2 14 7
+f 2 7 5
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+f 7 14 8
+f 8 14 15
+f 9 16 17
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+f 18 19 24
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+f 18 23 22
+f 18 22 20
+f 26 28 27
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_69.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfd7986f9cdc1a45d14fb11451c8de1ff387734b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_69.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01330915 0.01686171 -0.02446724
+v 0.01330915 0.01708176 -0.02374277
+v 0.01330915 0.02269346 -0.02446722
+v 0.01542627 0.01717030 -0.02446724
+v 0.02542701 0.01750869 -0.01958729
+v 0.02542701 0.01750869 -0.01870409
+v 0.02307593 0.01749203 -0.01870409
+v 0.02106919 0.01763668 -0.01893812
+v 0.01330915 0.01719310 -0.02343142
+v 0.01330915 0.02414438 -0.02332048
+v 0.01376388 0.02492725 -0.02278222
+v 0.01547405 0.02492725 -0.02278222
+v 0.01334375 0.02268819 -0.02446722
+v 0.01572943 0.01748767 -0.02446724
+v 0.02120594 0.01782869 -0.02224805
+v 0.02650452 0.01927697 -0.02015810
+v 0.02848160 0.02030621 -0.01945704
+v 0.02848160 0.02038334 -0.01739557
+v 0.02823941 0.02091725 -0.01564240
+v 0.02643862 0.02081468 -0.01558441
+v 0.02435279 0.02088130 -0.01562612
+v 0.01330915 0.02277847 -0.01676980
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+v 0.01330915 0.01866944 -0.02102196
+v 0.01330915 0.01776206 -0.02248004
+v 0.01330915 0.02533842 -0.02223175
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+v 0.02775008 0.02581796 -0.01903882
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+v 0.02186497 0.02005285 -0.02252176
+v 0.02302156 0.01912531 -0.02183291
+v 0.02930868 0.02273726 -0.01739556
+v 0.02186497 0.02135912 -0.02252175
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+v 0.02643862 0.02581794 -0.01407340
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+v 0.03009786 0.02581794 -0.01477344
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+v 0.01330915 0.02581797 -0.02166805
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+v 0.02979306 0.02581795 -0.01762958
+v 0.02816691 0.02469580 -0.01907138
+v 0.03011599 0.02581794 -0.01478158
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+f 31 35 32
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+f 37 49 38
+f 37 50 49
+f 39 51 42
+f 39 42 40
+f 42 51 43
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_7.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a6d4fea073677fd6e3618c990f2d195e5980f58
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_7.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.00052459 0.00850930 -0.00332024
+v 0.00127255 0.00844220 -0.00332024
+v 0.00142407 0.00784442 -0.00642853
+v -0.00046586 0.00642725 -0.01339138
+v -0.00184132 0.00760043 -0.00548411
+v -0.00228884 0.00787186 -0.00332024
+v 0.00199140 0.00840255 -0.00332024
+v 0.00220636 0.00592198 -0.01339138
+v -0.00268820 0.00518491 -0.01339138
+v -0.00656908 -0.00120166 -0.01339140
+v -0.00693555 -0.00108578 -0.00742818
+v -0.00716343 -0.00109495 -0.00332027
+v 0.00300508 0.00610697 -0.00332025
+v 0.00459079 0.00441022 -0.01225473
+v 0.00462721 0.00446106 -0.01339138
+v 0.00432651 0.00472538 -0.01339138
+v 0.00296045 0.00565358 -0.01339138
+v -0.00664308 -0.00187671 -0.01339141
+v -0.00708473 -0.00187673 -0.00742819
+v -0.00737133 -0.00187675 -0.00332028
+v 0.00230150 0.00335999 -0.00332026
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+v -0.00085348 -0.00187671 -0.01339141
+v -0.00362906 -0.00187675 -0.00332028
+v 0.00320359 0.00194282 -0.01339139
+v 0.00363114 0.00240133 -0.01339139
+v 0.00408689 0.00307943 -0.01339139
+v -0.00209738 -0.00187674 -0.00643646
+v 0.00196321 0.00073607 -0.01339140
+v 0.00220048 0.00096684 -0.01339140
+f 1 2 3
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+f 1 6 12
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+f 1 20 25
+f 1 25 21
+f 1 21 13
+f 1 13 7
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+f 21 28 22
+f 21 25 29
+f 21 29 26
+f 22 28 23
+f 24 30 29
+f 26 29 31
+f 29 30 31
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_70.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c7ae5f2373858658dceedef5b66dbcc88b05468
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_70.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.09505408 -0.01074003 0.01582671
+v -0.09505408 -0.01066393 0.01555861
+v -0.09505408 -0.01022449 0.01794449
+v -0.09800113 -0.01022693 0.01582671
+v -0.10350880 -0.00926578 0.01329695
+v -0.10136302 -0.00951864 0.01317151
+v -0.10730527 -0.00641914 0.00656360
+v -0.10571878 -0.00641914 0.00656360
+v -0.09505408 -0.00955179 0.01387988
+v -0.09505408 -0.01014347 0.01820030
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+v -0.10350880 -0.00926578 0.01464239
+v -0.09800113 -0.00956654 0.01789161
+v -0.10766579 -0.00698381 0.00918437
+v -0.10730527 -0.00481600 0.00656360
+v -0.10571878 -0.00481600 0.00656360
+v -0.09505408 -0.00728702 0.01348019
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+v -0.10745343 -0.00380331 0.00941806
+v -0.10647314 -0.00224070 0.01068111
+v -0.09505408 0.00180027 0.01636666
+v -0.09505408 -0.00186631 0.01409021
+v -0.09505408 -0.00378615 0.01368806
+v -0.09505408 -0.00687335 0.01349372
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+v -0.09680725 0.00129821 0.01674421
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+v -0.09680725 0.00129820 0.01775760
+v -0.09505408 0.00160140 0.01825200
+v -0.09505408 -0.00061549 0.01905999
+v -0.09795792 -0.00060690 0.01816221
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+f 1 31 30
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+f 1 33 32
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+f 45 46 47
+f 46 49 52
+f 46 52 53
+f 46 53 51
+f 46 50 47
+f 51 53 52
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_71.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4968ffcd9fabe16c375366058015170389eaa1f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_71.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00053240 -0.02551869 0.03216515
+v -0.00445397 -0.01671906 0.03221156
+v -0.00451163 -0.01671906 0.03244056
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+v -0.00569080 -0.01671907 0.03610460
+v -0.00599024 -0.01671908 0.03696843
+v -0.00641058 -0.01671908 0.03811634
+v -0.00672490 -0.01671908 0.03897148
+v 0.00043011 -0.02551869 0.03244053
+v -0.00676396 -0.02551869 0.03216515
+v -0.00444281 -0.01671906 0.03216518
+v -0.00806402 -0.01671910 0.04241521
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+v -0.00828907 -0.01671910 0.04298337
+v -0.01846641 -0.01912939 0.03688436
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+v -0.01532133 -0.02551876 0.05130859
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+v -0.01786380 -0.02551879 0.05901640
+v -0.01846641 -0.01671907 0.03591618
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+v -0.01369578 -0.02551879 0.06069189
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_72.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56f3973a953e7e0a31972b757cbe284ce6186098
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_72.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00495369 -0.02454311 0.02030850
+v 0.00416622 -0.02454312 0.02218885
+v 0.00492252 -0.02520253 0.02161662
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+v -0.00286193 -0.02454311 0.02030850
+v -0.00002377 -0.02454316 0.03216515
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+v 0.00181530 -0.03829159 0.03216510
+v 0.00162335 -0.03808071 0.03216510
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+v 0.00796083 -0.03567912 0.02760352
+v 0.00667956 -0.03707664 0.03216510
+v 0.00292432 -0.04061915 0.02254977
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+f 1 22 9
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_73.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3865721297810ff33ca7af6ddcbfb30d153b3fb2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_73.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.01646110 -0.04628034 0.01928500
+v 0.01646110 -0.04478239 0.01820955
+v 0.00910909 -0.03067532 0.02030732
+v 0.01459430 -0.04628034 0.02030726
+v 0.01646110 -0.04628031 0.01137055
+v 0.01646110 -0.04473558 0.01817255
+v 0.00840714 -0.02928376 0.02030732
+v 0.01646110 -0.04304826 0.01674323
+v 0.01646110 -0.04128860 0.01513814
+v 0.01646110 -0.03962042 0.01351686
+v 0.01646110 -0.03802671 0.01185627
+v 0.01646110 -0.02981352 0.00324801
+v 0.01646110 -0.02831557 0.00164061
+v 0.00345654 -0.04628034 0.02030726
+v 0.01560050 -0.04628031 0.01154401
+v 0.01525496 -0.04224180 0.00760299
+v 0.01646110 -0.03565634 0.00087273
+v 0.00810071 -0.02873693 0.02030732
+v 0.01646110 -0.02660697 -0.00078784
+v 0.00069872 -0.04313125 0.02030727
+v 0.00340003 -0.04628034 0.01966199
+v 0.01035652 -0.02986669 -0.00332038
+v 0.01066946 -0.03000925 -0.00332038
+v 0.01298612 -0.03068375 -0.00332038
+v 0.01298612 -0.04628032 0.01308897
+v 0.01646110 -0.03388605 -0.00085262
+v 0.00678809 -0.02695812 0.02030733
+v 0.01646110 -0.02653888 -0.00088498
+v 0.00004023 -0.04064815 0.02030728
+v -0.00264370 -0.03623729 0.01775396
+v -0.00308269 -0.03689264 0.01582737
+v 0.00075305 -0.04303976 0.01914855
+v -0.00289797 -0.03671602 0.01329023
+v 0.00015976 -0.03936509 0.01357932
+v 0.00524944 -0.04628034 0.01811009
+v -0.00180918 -0.03208811 0.00781581
+v -0.00299576 -0.02986460 0.00682362
+v 0.00699889 -0.02454303 -0.00332036
+v 0.00416066 -0.03919911 0.01057266
+v 0.00191789 -0.03853099 0.01136364
+v -0.00085296 -0.03762245 0.01232577
+v 0.01366634 -0.03078588 -0.00332038
+v 0.01646110 -0.03228170 -0.00240914
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+v -0.00398240 -0.03074337 0.00902542
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+v -0.00574054 -0.02830496 0.01023734
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+v -0.00302836 -0.02502606 0.00660623
+v -0.00204606 -0.02454306 0.00620612
+v 0.00804638 -0.02454309 0.01250391
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+f 62 66 63
+f 63 66 64
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_74.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dd2d7f7c437bbfd733cfbd0355eb177e91c2d49
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_74.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.02367338 0.04942286 0.01914925
+v -0.02324444 0.05275920 0.02154529
+v -0.02356231 0.05275921 0.01914926
+v -0.02338614 0.03955751 0.01569604
+v -0.02366381 0.04608652 0.01914924
+v -0.02081823 0.05587405 0.02195467
+v -0.02309316 0.05587405 0.02147567
+v -0.02304912 0.04942285 0.02125514
+v -0.01992588 0.03548882 0.02198729
+v -0.02311422 0.05587405 0.02131425
+v -0.02307018 0.05587406 0.01888763
+v -0.02329040 0.04608653 0.01666144
+v -0.02325784 0.03580212 0.01604841
+v -0.02289975 0.03548885 0.01331583
+v -0.02321763 0.03548884 0.01568653
+v -0.02329997 0.03941782 0.01827141
+v -0.02310848 0.03672799 0.01808677
+v -0.02064398 0.05587405 0.02197999
+v -0.02270060 0.04608651 0.02097659
+v -0.02301848 0.03548884 0.01635121
+v -0.00428482 0.03548882 0.02198729
+v -0.00413545 0.04700041 0.02198733
+v -0.02273698 0.05587406 0.01817547
+v -0.02279826 0.03853786 0.01375685
+v -0.02243826 0.05535925 0.01740422
+v -0.02319848 0.03548884 0.01593763
+v -0.02258571 0.03548885 0.01292968
+v -0.00411056 0.04701238 0.02198733
+v -0.01784245 0.05587405 0.02136384
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+v -0.00411056 0.03557463 0.02198729
+v -0.02164931 0.05587407 0.01710249
+v -0.02063057 0.03548886 0.01123527
+v -0.00411056 0.05587407 0.01713519
+v -0.01766819 0.05587405 0.02131530
+v -0.00411056 0.03548886 0.01120889
+v -0.02091781 0.05587407 0.01677226
+v -0.02057504 0.03548886 0.01120889
+v -0.00411056 0.05587409 0.01156663
+v -0.00411056 0.05304458 0.01120895
+v -0.01728138 0.05587407 0.01544500
+v -0.01055618 0.05587408 0.01306059
+v -0.01033022 0.05587408 0.01300045
+v -0.00719358 0.05587409 0.01218700
+v -0.00956042 0.04853294 0.01120894
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+f 39 40 45
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_75.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cadf96ca6ec79f785cb2581f3822c489dd134557
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_75.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.03886082 -0.07359631 0.02148235
+v 0.03890431 -0.07401020 0.02152586
+v 0.04173355 -0.08833024 0.01785571
+v 0.04173355 -0.08833023 0.01723293
+v 0.03876842 -0.07359630 0.01895720
+v 0.03686052 -0.07359631 0.02271297
+v 0.03652894 -0.07401020 0.02298765
+v 0.03918968 -0.08068348 0.02166453
+v 0.04177976 -0.08943083 0.01791010
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+v 0.04180150 -0.08943082 0.01670259
+v 0.03871407 -0.07359630 0.01872468
+v 0.03656156 -0.07359631 0.02288294
+v 0.03396605 -0.07359632 0.02391503
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+v 0.03440362 -0.07734607 0.02401021
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+v 0.03885268 -0.08943084 0.02121305
+v 0.04115194 -0.08943082 0.01631097
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+v 0.01631387 -0.07359634 0.02948749
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_76.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c027e852558a23a5eb4150967be0fd2b1b068721
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_76.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.02313209 -0.02417740 -0.00332159
+v -0.02280093 -0.02730556 -0.00332160
+v -0.01588248 -0.02417740 -0.00332159
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+v -0.01601795 -0.02417736 -0.01310746
+v -0.02153089 -0.03398606 -0.00332292
+v -0.02133897 -0.03466309 -0.00332293
+v -0.01547418 -0.04395143 -0.00332296
+v -0.01388427 -0.04540998 -0.00332297
+v -0.01252203 -0.04552282 -0.00332297
+v -0.00492057 -0.02417737 -0.01206903
+v -0.00522350 -0.03486577 -0.00873313
+v -0.00391018 -0.03397349 -0.01078141
+v -0.01133101 -0.04542252 -0.00332297
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+v -0.00871001 -0.04259109 -0.00332296
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+v -0.01414204 -0.02417736 -0.01483643
+v -0.00896778 -0.03575592 -0.01247406
+v -0.01265186 -0.04268929 -0.00605921
+v -0.00391018 -0.03740672 -0.01423290
+v -0.00416983 -0.02417736 -0.01357345
+v -0.00391018 -0.03399020 -0.01077752
+v -0.00391018 -0.03395050 -0.01081127
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+v -0.00859900 -0.04275825 -0.00435490
+v -0.00860465 -0.04274989 -0.00410697
+v -0.00391018 -0.03749658 -0.01080350
+v -0.01407243 -0.02417736 -0.01486499
+v -0.00391018 -0.03391078 -0.01658232
+v -0.00391018 -0.03535262 -0.01586581
+v -0.00391018 -0.03749658 -0.01082037
+v -0.00391018 -0.03160386 -0.01411216
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+v -0.00391018 -0.03160804 -0.01409918
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+v -0.01055769 -0.02417735 -0.01590082
+v -0.00719348 -0.02417735 -0.01560487
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_77.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0272d6cc120a6be43899c0f6d4c1cc559d19222d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_77.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.01813735 0.00221011 -0.02446830
+v -0.02332783 0.00221008 -0.01704105
+v -0.01931915 0.00372463 -0.02300996
+v -0.01813735 0.00224728 -0.02446830
+v 0.00642210 0.00221011 -0.02446830
+v -0.02496345 0.00221007 -0.01452770
+v -0.01931915 0.00491931 -0.02300995
+v -0.01730536 0.00554864 -0.02446829
+v 0.00652610 0.01104139 -0.02446827
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+v 0.00436419 0.00221008 -0.01582558
+v -0.02545508 0.00221007 -0.01373727
+v -0.02566938 0.00221007 -0.01339247
+v -0.02496345 0.00579670 -0.01339246
+v -0.02491932 0.00601022 -0.01339246
+v -0.02376273 0.00939284 -0.01407337
+v -0.02234142 0.01104136 -0.01575399
+v -0.02227839 0.01104136 -0.01581145
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+v 0.00462576 0.00446198 -0.01339246
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+v 0.00345341 0.00221007 -0.01339247
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+v -0.02374698 0.01104135 -0.01339244
+v 0.00488103 0.01104138 -0.02213926
+v -0.00174337 0.01104135 -0.01339244
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_78.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31d6750395fd07cccb5317a3a2137f2893e05e50
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_78.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00603729 0.05587408 0.01249962
+v 0.00591469 0.05587409 0.01120897
+v 0.00480247 0.05587408 0.01432421
+v 0.01497003 0.05041060 0.01715035
+v -0.00275751 0.05587409 0.01120897
+v 0.01807459 0.04450217 0.01409674
+v 0.01825631 0.04188419 0.01120891
+v 0.00289770 0.05587407 0.01515827
+v 0.01391693 0.05067799 0.01715035
+v 0.01526998 0.04942487 0.01715034
+v 0.01807459 0.04450217 0.01432939
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+v 0.00985560 0.03811482 0.01715030
+v 0.00987530 0.03548885 0.01439276
+v 0.01070727 0.03548885 0.01389372
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+f 47 50 48
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_79.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d581f62326ead02540fa556e5790136e6866f3e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_79.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.03122916 -0.02041604 -0.00332034
+v -0.02309496 -0.02454303 -0.00332036
+v -0.02529417 -0.02454304 -0.00075956
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+v -0.03122916 -0.00657911 -0.00332029
+v -0.01580905 -0.02454303 -0.00332036
+v -0.03122916 -0.01864532 -0.00263571
+v -0.01798712 -0.02454304 -0.00075956
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+v -0.03122916 -0.01098569 -0.00148501
+v -0.02169423 -0.00657911 -0.00332029
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+v -0.01825127 -0.02063057 -0.00075955
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+v -0.01771241 -0.01722277 -0.00332033
+v -0.01928672 -0.01713134 -0.00075953
+f 1 2 3
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+f 1 13 25
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+f 1 33 27
+f 1 27 15
+f 1 15 6
+f 1 6 2
+f 2 6 14
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+f 2 18 8
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+f 3 30 24
+f 3 24 23
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+f 3 22 20
+f 3 20 9
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+f 21 32 26
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+f 25 34 28
+f 25 28 33
+f 27 33 28
+f 28 34 29
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_8.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1018247c04f7f4aad212e947d6231fda532966e7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_8.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.05344891 -0.07734629 -0.01345140
+v -0.05347368 -0.07966279 -0.01332943
+v -0.05390510 -0.08008102 -0.01075011
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+v -0.05285545 -0.07558035 -0.01287921
+v -0.05239926 -0.07558035 -0.01287921
+v -0.05113288 -0.07766720 -0.01325109
+v -0.05091407 -0.07951049 -0.01310928
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+v -0.05377092 -0.08014026 -0.00742903
+v -0.05377092 -0.07749800 -0.00742902
+v -0.05285545 -0.07558036 -0.01181218
+v -0.04776720 -0.07502498 -0.00332055
+v -0.04535828 -0.07536886 -0.00332055
+v -0.04414969 -0.07619804 -0.00332055
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+v -0.04922246 -0.07899256 -0.01242404
+v -0.04922246 -0.07902701 -0.01242404
+v -0.04875389 -0.07948089 -0.01075011
+v -0.04751124 -0.08003873 -0.00733680
+v -0.04755149 -0.08074644 -0.00410696
+v -0.05091407 -0.08105950 -0.00410696
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+v -0.05344065 -0.07750889 -0.00410694
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+v -0.05167679 -0.07564989 -0.00332055
+v -0.05040731 -0.07536584 -0.00332055
+v -0.04466884 -0.07957218 -0.00332056
+v -0.04488455 -0.07961205 -0.00410695
+v -0.04557812 -0.07931109 -0.00616862
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+v -0.04755149 -0.08065761 -0.00332057
+v -0.05098013 -0.08082501 -0.00332057
+v -0.05331989 -0.07980184 -0.00332056
+v -0.05011936 -0.08089633 -0.00332057
+v -0.05331061 -0.07746720 -0.00332055
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+f 23 35 24
+f 23 33 36
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+f 24 35 25
+f 25 35 37
+f 25 37 26
+f 29 32 30
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_80.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb161d9a68d814cdc4c28c1fbb99ab9a4c3a840b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_80.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.02636713 -0.02560883 -0.03186708
+v 0.02590917 -0.02560883 -0.03298014
+v 0.02627511 -0.02560884 -0.03068322
+v 0.03822260 -0.02563266 -0.02901415
+v 0.03822260 -0.02563266 -0.02902977
+v 0.02487557 -0.02560883 -0.03359758
+v 0.02576152 -0.02560884 -0.02994604
+v 0.03635654 -0.02697249 -0.02788028
+v 0.03956437 -0.02726666 -0.02783030
+v 0.04234633 -0.02805745 -0.02798544
+v 0.02504676 -0.02560884 -0.02892044
+v 0.04234633 -0.02805744 -0.02973781
+v 0.02327701 -0.02560883 -0.03379646
+v 0.04234633 -0.02998083 -0.03111118
+v 0.04234633 -0.03777441 -0.03486479
+v 0.03652774 -0.03064063 -0.02611230
+v 0.03989178 -0.03064063 -0.02608940
+v 0.02453745 -0.02560884 -0.02893502
+v 0.04234633 -0.02894233 -0.02751066
+v 0.02134889 -0.02560883 -0.03375169
+v 0.04234633 -0.03777444 -0.02833116
+v 0.02355306 -0.03777443 -0.02957021
+v 0.02307799 -0.03448861 -0.02512005
+v 0.02307799 -0.03731236 -0.02422773
+v 0.03989178 -0.03397530 -0.02655171
+v 0.04234633 -0.03397530 -0.02715249
+v 0.04234633 -0.03064063 -0.02678493
+v 0.02307799 -0.03777445 -0.02423711
+v 0.02083743 -0.02560883 -0.03170361
+v 0.02084813 -0.03493165 -0.02525332
+v 0.02324919 -0.03777443 -0.02946713
+v 0.02172552 -0.03777443 -0.02888926
+v 0.02060418 -0.02560883 -0.03344036
+v 0.04234633 -0.03733141 -0.02816665
+v 0.03942526 -0.03777444 -0.02758045
+v 0.02048648 -0.03731236 -0.02486912
+v 0.03989178 -0.03731235 -0.02753568
+v 0.02644203 -0.03777445 -0.02480977
+v 0.04234633 -0.03487566 -0.02741801
+v 0.02053997 -0.03777445 -0.02490973
+v 0.02055710 -0.03777444 -0.02737429
+v 0.02112633 -0.03619404 -0.02922348
+v 0.02050787 -0.03730759 -0.02753255
+v 0.02053997 -0.03777445 -0.02508049
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+f 26 37 39
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+f 33 43 36
+f 33 42 43
+f 34 39 37
+f 34 37 35
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+f 36 43 41
+f 36 41 44
+f 36 44 40
+f 41 43 42
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_81.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3101733b56c2c3c4a02580eb29692f3115ee74db
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_81.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.00085110 -0.00187804 -0.01339141
+v -0.00664401 -0.00187804 -0.01339141
+v -0.00209785 -0.00187807 -0.00643646
+v 0.00553564 -0.01085064 -0.01339144
+v -0.00689094 -0.00395220 -0.01339141
+v -0.00797256 -0.00394959 -0.00332028
+v -0.00708484 -0.00187806 -0.00742819
+v -0.00362940 -0.00187808 -0.00332028
+v 0.00718081 -0.01539053 -0.00748640
+v 0.00739289 -0.01539053 -0.00841012
+v 0.00587801 -0.01146706 -0.01339144
+v -0.00250838 -0.01267346 -0.01339145
+v -0.00271895 -0.01292216 -0.01074945
+v -0.00295527 -0.01405980 -0.00332032
+v -0.00737115 -0.00187808 -0.00332028
+v 0.00363447 -0.01433098 -0.00332032
+v 0.00567653 -0.01539054 -0.00473005
+v 0.00619159 -0.01539054 -0.00563799
+v 0.00750348 -0.01539051 -0.01339146
+v 0.00734593 -0.01429522 -0.01339145
+v 0.00728685 -0.01415501 -0.01339145
+v 0.00717020 -0.01388119 -0.01339145
+v -0.00201604 -0.01300549 -0.01339145
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+v 0.00006843 -0.01414707 -0.01339145
+v 0.00092889 -0.01539052 -0.01052568
+v -0.00090412 -0.01539055 -0.00332033
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+f 24 28 29
+f 26 30 27
+f 27 30 28
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_82.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfe20f0339cca4af2d80dc2efda5a5c3b4ec7aa6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_82.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.00379460 0.02581800 -0.03007938
+v -0.00146811 0.02581800 -0.03122234
+v -0.00621673 0.02581800 -0.03101115
+v -0.00377829 0.02277339 -0.03156950
+v -0.00262320 0.02077032 -0.03213781
+v -0.00185512 0.02077032 -0.03213781
+v -0.00147478 0.02273721 -0.03165923
+v -0.00153261 0.02581801 -0.03387354
+v 0.00130247 0.01679600 -0.03864302
+v 0.00130247 0.01790991 -0.03864301
+v 0.00130247 0.01790991 -0.03927658
+v -0.00621673 0.02581800 -0.03117158
+v -0.00572148 0.02390923 -0.03196558
+v -0.00268770 0.01724002 -0.03521594
+v -0.00142585 0.01724002 -0.03521594
+v 0.00110526 0.01461861 -0.03898746
+v 0.00115271 0.01461861 -0.03903187
+v -0.00153335 0.02581472 -0.03389802
+v -0.00153484 0.02581801 -0.03389711
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+v 0.00113047 0.01797570 -0.03933821
+v -0.00203083 0.02453088 -0.03575341
+v -0.00600765 0.02581801 -0.03296806
+v -0.00572148 0.02390923 -0.03281669
+v -0.00297017 0.01461861 -0.03933823
+v -0.00296869 0.01461861 -0.03899380
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+v -0.00175725 0.01461861 -0.03823787
+v -0.00079270 0.01461861 -0.03823787
+v 0.00115864 0.01461861 -0.03908263
+v 0.00121721 0.01489818 -0.03933823
+v -0.00363223 0.02581802 -0.03441103
+v -0.00040051 0.01879797 -0.03933821
+v -0.00237780 0.02453088 -0.03575341
+v -0.00120862 0.01884950 -0.03933821
+v -0.00302355 0.01893721 -0.03933821
+v -0.00592684 0.02581801 -0.03306323
+v -0.00331121 0.01786167 -0.03933821
+v 0.00105781 0.01461861 -0.03933823
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+f 24 26 25
+f 31 40 32
+f 33 35 37
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_83.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02a120445f37318ffd5c4aea7ef5a300b44f9dbe
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_83.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.00045027 0.03548783 0.01992318
+v -0.01134528 0.03548780 0.02792594
+v 0.01486347 0.03548568 0.01120889
+v -0.02069812 0.03548783 0.01992318
+v -0.01371445 0.03548779 0.02949351
+v 0.01364892 0.03548568 0.01209274
+v 0.01414033 0.03492187 0.01120889
+v -0.02057027 0.03548568 0.01120889
+v -0.02257988 0.03548567 0.01293025
+v -0.02289550 0.03548567 0.01331566
+v -0.02321512 0.03548566 0.01568369
+v -0.02069013 0.03548780 0.02593590
+v -0.02062221 0.03548568 0.01123483
+v -0.01206841 0.03431446 0.02760724
+v 0.01309757 0.03548567 0.01245035
+v 0.01320145 0.03548567 0.01238364
+v -0.01684272 0.03548779 0.03013647
+v -0.02189270 0.01328368 0.01120881
+v -0.02144923 0.01361022 0.01139781
+v 0.01223061 0.03387261 0.01141641
+v 0.01280992 0.03404894 0.01120889
+v -0.02062221 0.03545085 0.01120889
+v -0.02282359 0.03215941 0.01120888
+v -0.02595186 0.01522764 0.01120882
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+v -0.02256789 0.03468889 0.02493347
+v -0.02319115 0.03548566 0.01593569
+v -0.02068214 0.03548780 0.02616196
+v -0.02132937 0.01348831 0.01120881
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+v -0.02064219 0.02786438 0.02403107
+v -0.02208447 0.01325103 0.01120881
+v 0.01232649 0.03375506 0.01120888
+v -0.02595186 0.01383226 0.01120881
+v -0.02593587 0.01386926 0.01127922
+v -0.02274768 0.02997595 0.02491678
+v -0.01973128 0.03548780 0.02853370
+v -0.02064219 0.02953187 0.02525586
+v -0.02400218 0.01325103 0.01146451
+v -0.02432580 0.01325103 0.01120881
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+f 31 36 35
+f 31 35 39
+f 31 39 32
+f 32 39 40
+f 34 40 39
+f 34 39 35
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_84.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59c2a7e804b25000a1b4e87fe60d607ed99f2e85
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_84.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.02232664 -0.00143449 0.00373124
+v 0.01971152 -0.00037214 0.00253602
+v 0.01962686 -0.00054179 0.00373125
+v 0.02232664 -0.00328294 0.00373124
+v 0.01630369 -0.00686516 -0.02431377
+v 0.01556487 0.00220922 -0.02446830
+v 0.01559104 0.00220922 -0.02422816
+v 0.01559412 0.00220922 -0.02419779
+v 0.01548791 0.00220921 -0.02211650
+v 0.01465519 0.00220920 -0.01964876
+v 0.01290665 0.00220920 -0.01786283
+v 0.01251876 0.00220920 -0.01789595
+v 0.01687320 -0.00103211 0.00253602
+v 0.01718413 -0.00130214 0.00373125
+v 0.01221554 0.00220920 -0.01801741
+v 0.01123352 0.00220920 -0.01870749
+v 0.02089363 -0.00414898 0.00373123
+v 0.01606204 -0.00686516 -0.02394664
+v 0.01623289 -0.00686516 -0.02446834
+v 0.00916174 0.00220922 -0.02446830
+v 0.01425346 -0.00159435 -0.00150236
+v 0.00660356 0.00194186 -0.02446830
+v 0.01718413 -0.00333979 0.00373124
+v 0.01073789 0.00220920 -0.01991376
+v 0.01962686 -0.00420938 0.00373123
+v 0.01971152 -0.00435861 0.00253600
+v 0.01380247 -0.00686516 -0.02440762
+v 0.01375630 -0.00686516 -0.02446834
+v 0.01123968 -0.00212284 -0.00888349
+v 0.01425346 -0.00292406 -0.00150236
+v 0.00660356 0.00179263 -0.02415915
+v 0.00660356 0.00173223 -0.02403769
+v 0.00660356 -0.00045110 -0.02109795
+v 0.00660356 -0.00398100 -0.02446832
+v 0.01687320 -0.00360804 0.00253601
+v 0.01775056 -0.00371285 0.00373124
+v 0.01123968 -0.00240264 -0.00888349
+v 0.00660356 -0.00394370 -0.02426682
+v 0.01389790 -0.00327848 -0.00332141
+v 0.00660356 -0.00092720 -0.02132154
+v 0.01374706 -0.00343125 -0.00410811
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+f 1 23 36
+f 1 36 25
+f 1 25 17
+f 1 17 4
+f 1 4 5
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+f 1 6 7
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+f 13 16 22
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+f 23 30 35
+f 25 36 28
+f 25 28 27
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+f 30 39 35
+f 33 40 37
+f 34 35 41
+f 34 41 38
+f 35 39 41
+f 37 40 38
+f 38 41 39
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_85.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab666a27c82210e6484563320a585e6d9e7e35fe
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_85.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.01955144 -0.00172028 -0.02446832
+v -0.01955144 -0.00156126 -0.02446832
+v -0.01947627 -0.00361352 -0.02446832
+v -0.02733797 -0.00620865 -0.01339250
+v -0.02738564 -0.00376903 -0.01339249
+v -0.01813971 0.00220922 -0.02446830
+v -0.02570073 -0.00225959 -0.01574861
+v -0.02685578 -0.00086122 -0.01339248
+v -0.02332828 0.00220919 -0.01704105
+v -0.01878140 -0.00455614 -0.02446833
+v -0.02311744 -0.00686518 -0.01831185
+v -0.02404515 -0.00686519 -0.01733059
+v -0.02660827 -0.00686520 -0.01428595
+v -0.02697312 -0.00686520 -0.01383056
+v -0.02730314 -0.00686520 -0.01339251
+v -0.00865909 0.00220922 -0.02446830
+v -0.02566773 0.00220918 -0.01339247
+v -0.02545505 0.00220918 -0.01373727
+v -0.02496553 0.00220918 -0.01452770
+v -0.01781702 -0.00527310 -0.02446833
+v -0.02038931 -0.00686517 -0.02077857
+v -0.02234007 -0.00686518 -0.01909795
+v -0.01600927 -0.00686520 -0.01339251
+v -0.00865909 0.00220920 -0.02013339
+v -0.00865909 -0.00108595 -0.02446831
+v -0.01614128 0.00220918 -0.01339247
+v -0.01692598 -0.00573419 -0.02446833
+v -0.01765568 -0.00686517 -0.02097807
+v -0.01600011 -0.00686520 -0.01351070
+v -0.00865909 -0.00018332 -0.02203087
+v -0.00865909 0.00041637 -0.02120466
+v -0.01596160 -0.00686520 -0.01407343
+v -0.01642913 -0.00686518 -0.01788790
+v -0.01610461 -0.00572708 -0.02446833
+v -0.01755851 -0.00686517 -0.02081435
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+f 1 25 34
+f 1 34 27
+f 1 27 20
+f 1 20 10
+f 1 10 3
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+f 23 25 30
+f 23 30 31
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+f 23 24 26
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+f 25 33 34
+f 27 34 28
+f 28 34 35
+f 33 35 34
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_86.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e1a5052d3dc70e9dada5a5953e4d194a63fc9d8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_86.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00697296 -0.01538963 -0.02446837
+v -0.00697296 -0.01538964 -0.02090763
+v -0.00697296 -0.01354640 -0.02446836
+v 0.01203864 -0.01538963 -0.02446837
+v -0.00496003 -0.00686692 -0.01339251
+v -0.00697296 -0.01379506 -0.02394575
+v 0.00266209 -0.01538967 -0.01339254
+v 0.00006943 -0.01414806 -0.01339253
+v -0.00201573 -0.01300574 -0.01339253
+v -0.00250803 -0.01267364 -0.01339253
+v -0.00498855 -0.00686692 -0.01407343
+v -0.00497904 -0.00686691 -0.01739564
+v -0.00491632 -0.00686689 -0.02071677
+v -0.00480037 -0.00686688 -0.02393705
+v -0.00477566 -0.00686688 -0.02446834
+v 0.01244161 -0.01485310 -0.02446836
+v 0.01244161 -0.01538964 -0.02308701
+v -0.00092088 -0.00686692 -0.01339251
+v 0.00750338 -0.01538967 -0.01339254
+v 0.00553987 -0.00686688 -0.02446834
+v 0.01244161 -0.01018703 -0.02446835
+v 0.01244161 -0.01538965 -0.01928989
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+v 0.00551136 -0.00686688 -0.02436425
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+v 0.01244161 -0.01441088 -0.02018549
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+v 0.00717074 -0.01388104 -0.01339253
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+v 0.00587821 -0.01146791 -0.01339252
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+f 22 31 29
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+f 25 32 33
+f 25 33 26
+f 28 34 29
+f 29 31 30
+f 29 34 32
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_87.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1765c0b28bfb718a57369c906f0aba1e6e726916
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_87.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.00916191 0.00221011 -0.02446830
+v 0.01073723 0.00221009 -0.01991545
+v 0.01446611 0.00799313 -0.01523138
+v 0.00920961 0.00229068 -0.02446830
+v 0.01556558 0.00221011 -0.02446830
+v 0.01123286 0.00221009 -0.01870757
+v 0.01419270 0.00819373 -0.01739558
+v 0.01446611 0.00681580 -0.01523138
+v 0.01635673 0.00654201 -0.01339246
+v 0.01657313 0.00936776 -0.01339245
+v 0.01667203 0.00976240 -0.01339244
+v 0.01715486 0.01036504 -0.01339244
+v 0.01067324 0.00456559 -0.02446829
+v 0.01574591 0.00251184 -0.02446830
+v 0.01821128 0.00419313 -0.01989050
+v 0.01559583 0.00221011 -0.02419940
+v 0.01221598 0.00221009 -0.01801906
+v 0.01640908 0.00612765 -0.01339246
+v 0.01408217 0.00811812 -0.02071671
+v 0.01094084 0.00493720 -0.02446829
+v 0.01857311 0.01060840 -0.01339244
+v 0.01431951 0.00789202 -0.02294597
+v 0.01589600 0.00616879 -0.02446829
+v 0.01829621 0.00605696 -0.01992737
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+v 0.02086512 0.00691856 -0.01339245
+v 0.01831366 0.00412982 -0.01739559
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+v 0.01309788 0.00663002 -0.02446829
+v 0.01977264 0.01060346 -0.01339244
+v 0.01504435 0.00789202 -0.02294597
+v 0.01820430 0.00790435 -0.01938305
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+v 0.01822757 0.00423999 -0.01537451
+v 0.01465692 0.00221009 -0.01965089
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+v 0.01717697 0.00423999 -0.01537451
+v 0.01963768 0.00628550 -0.01339246
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+f 30 40 37
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+f 37 40 39
+f 37 39 38
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_88.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83ef2e2fb8c6c7fe24cc7db6e1b5281e10ea2643
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_88.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.00569355 -0.02973688 -0.02044207
+v 0.00939905 -0.03006113 -0.02044207
+v 0.00245001 -0.03064959 -0.02044207
+v -0.00046494 -0.03080813 -0.01739376
+v -0.00390693 -0.03160316 -0.01411369
+v -0.00390693 -0.03160797 -0.01410048
+v 0.01634809 -0.03124526 -0.01799668
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+v 0.00163669 -0.03094742 -0.02044207
+v -0.00046494 -0.03150947 -0.01972768
+v -0.00285286 -0.03174246 -0.01739377
+v -0.00390693 -0.03161037 -0.01415476
+v -0.00390693 -0.03394980 -0.01081306
+v 0.01971200 -0.03161275 -0.01804510
+v 0.01971200 -0.03161275 -0.01998880
+v 0.01819271 -0.03142059 -0.02044208
+v 0.00091771 -0.03254947 -0.02044208
+v -0.00228353 -0.03214356 -0.01917464
+v -0.00390693 -0.03390895 -0.01658109
+v -0.00390693 -0.03397142 -0.01078372
+v 0.01971200 -0.03297462 -0.01638451
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+v 0.02164771 -0.03205229 -0.01935361
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+v -0.00390693 -0.03535248 -0.01586816
+v -0.00390693 -0.03398823 -0.01077932
+v 0.00116171 -0.04895913 -0.00575657
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+v -0.00160685 -0.03490332 -0.01875511
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+f 68 69 70
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+f 87 90 89
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_89.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b56b8242f7e3bad54774ac3d8758ac285ce10c04
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_89.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.01072097 0.01324672 0.00100658
+v -0.01072097 0.01324673 -0.00332022
+v -0.01137108 0.01324671 0.00192259
+v -0.00939772 0.01324284 -0.00068362
+v -0.00852630 0.01324285 -0.00200626
+v -0.00767794 0.01324285 -0.00332022
+v -0.02936184 0.01324673 -0.00332022
+v -0.01247072 0.01324671 0.00329009
+v -0.01525325 0.00725588 0.00131045
+v -0.02168972 -0.00657911 -0.00332029
+v -0.03122916 0.00925478 -0.00332024
+v -0.02950247 0.01324673 -0.00314946
+v -0.01392538 0.01324670 0.00482690
+v -0.01843690 0.00699581 0.00475307
+v -0.01619382 0.00853283 0.00352449
+v -0.01928526 0.00477182 0.00378641
+v -0.02386364 -0.00657911 -0.00139421
+v -0.03122916 -0.00657911 -0.00332029
+v -0.03122916 0.01268004 -0.00086162
+v -0.02959237 0.01324673 -0.00303514
+v -0.01441411 0.01324670 0.00534061
+v -0.01648198 0.01324669 0.00711475
+v -0.01984776 0.01324668 0.00993368
+v -0.02065463 0.00609729 0.00590495
+v -0.02151682 0.00387522 0.00483843
+v -0.02202399 0.00742469 0.00765738
+v -0.03122916 -0.00657912 -0.00114242
+v -0.03122916 0.01273632 -0.00080518
+v -0.03086492 0.01324672 -0.00079939
+v -0.02110416 0.01324668 0.01084245
+v -0.02194561 0.01324668 0.01118830
+v -0.02400657 0.01324668 0.01146325
+v -0.03122916 0.00634375 0.00490935
+v -0.03122916 0.01324671 0.00190522
+v -0.02616205 0.01324668 0.01016666
+v -0.03122916 0.00941582 0.00559818
+v -0.03122916 0.01324671 0.00269389
+v -0.03007880 0.01324670 0.00467785
+v -0.03122916 0.01244714 0.00500344
+v -0.03122916 0.01201243 0.00511052
+v -0.03122916 0.01324088 0.00274453
+v -0.03122224 0.01324671 0.00274019
+f 1 2 7
+f 1 7 12
+f 1 12 20
+f 1 20 29
+f 1 29 34
+f 1 34 37
+f 1 37 42
+f 1 42 38
+f 1 38 35
+f 1 35 32
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+f 1 31 30
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+f 1 23 22
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+f 1 13 8
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+f 11 41 37
+f 11 37 34
+f 11 34 28
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+f 14 24 16
+f 16 24 17
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+f 17 25 26
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+f 19 28 20
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+f 23 30 24
+f 24 30 26
+f 24 26 25
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+f 26 30 31
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+f 28 34 29
+f 32 35 33
+f 33 35 36
+f 35 38 39
+f 35 39 40
+f 35 40 36
+f 37 41 42
+f 38 42 39
+f 39 42 41
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_9.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c2b4ba4ac19c6b550a15d1c459d6683f63e7eb6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_9.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.01346417 -0.00053913 -0.03933828
+v -0.01171961 -0.00061993 -0.04936761
+v -0.01160778 -0.00390226 -0.04936762
+v -0.01333955 -0.00285939 -0.03933829
+v -0.01292099 0.00079886 -0.03933828
+v -0.01047350 0.00614683 -0.04936759
+v -0.01143205 0.00273111 -0.04936760
+v -0.01160459 -0.00394268 -0.04936762
+v -0.01322453 -0.00401952 -0.03933829
+v -0.01176115 0.00339804 -0.03933827
+v -0.00302241 0.01893653 -0.03933821
+v -0.00738060 0.00944128 -0.04936758
+v -0.01061090 -0.00691779 -0.04936764
+v -0.01237142 -0.00541006 -0.03933830
+v -0.00120757 0.01884760 -0.03933821
+v -0.00046310 0.01858891 -0.03990860
+v -0.00286585 0.01869805 -0.03992725
+v -0.00375410 0.01271552 -0.04936756
+v -0.01042877 -0.00716841 -0.04936764
+v -0.00691730 -0.01321569 -0.03933833
+v -0.00039919 0.01879505 -0.03933821
+v 0.00272247 0.01288529 -0.04936756
+v -0.00046310 0.01364524 -0.04936756
+v 0.00962080 0.01097734 -0.04936757
+v -0.01026582 -0.00735436 -0.04936764
+v -0.00716972 -0.01065285 -0.04936765
+v -0.00049824 -0.01755705 -0.04936767
+v 0.00425933 -0.02235930 -0.03933836
+v 0.00962080 0.01342288 -0.03933823
+v 0.01258590 0.00936448 -0.04936758
+v -0.00041517 -0.01760960 -0.04936767
+v 0.00241893 -0.01889908 -0.04936768
+v 0.00289501 -0.01894759 -0.04936768
+v 0.00481849 -0.02235930 -0.03933836
+v 0.01047071 0.01292568 -0.03933823
+v 0.01277441 0.00911790 -0.04936758
+v 0.01171682 0.01207680 -0.03933824
+v 0.01832439 -0.02050390 -0.03933836
+v 0.00499422 -0.02233909 -0.03933836
+v 0.01306837 -0.01706793 -0.04936767
+v 0.01405567 0.00631660 -0.04936759
+v 0.01415472 0.00605386 -0.04936759
+v 0.01906566 -0.01793302 -0.03933835
+v 0.01917749 -0.02029774 -0.03933835
+v 0.01596637 -0.01391900 -0.04936766
+v 0.01917749 -0.01886678 -0.03933835
+v 0.01595678 -0.01098431 -0.04936765
+v 0.01598873 -0.01131982 -0.04936765
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+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 20
+f 1 20 28
+f 1 28 34
+f 1 34 39
+f 1 39 38
+f 1 38 44
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+f 1 37 35
+f 1 35 29
+f 1 29 21
+f 1 21 15
+f 1 15 11
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+f 1 10 5
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+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_90.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e16024064d2cf1586fdea7c5b13bd60a8f6afce
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_90.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.04475489 0.01324672 -0.00078545
+v 0.04424048 0.01324673 -0.00276596
+v 0.04433160 0.01324672 0.00016491
+v 0.03825868 0.00770452 -0.00239933
+v 0.04204470 0.01079851 -0.00189920
+v 0.04204470 0.01079851 -0.00259072
+v 0.04131278 0.01272714 -0.00331975
+v 0.04100119 0.01324673 -0.00331975
+v 0.03694180 0.00746218 -0.00331977
+v 0.03887302 0.00947136 -0.00331977
+v 0.04285893 0.01324672 0.00109104
+v 0.04084246 0.01133017 0.00031545
+v 0.03652733 0.00725811 -0.00204455
+v 0.03444619 0.00656399 -0.00331978
+v 0.03825868 0.00770452 -0.00247342
+v 0.01472828 0.01324673 -0.00331975
+v 0.04203294 0.01324672 0.00127532
+v 0.03859965 0.01090994 0.00094333
+v 0.03316459 0.00687681 -0.00180423
+v 0.03316459 0.00638945 -0.00331978
+v 0.01640965 0.01241835 -0.00331975
+v 0.01635968 0.01324673 -0.00139955
+v 0.04046915 0.01324671 0.00149949
+v 0.03782951 0.01090994 0.00094333
+v 0.03980777 0.01324671 0.00153179
+v 0.03073365 0.00719635 -0.00207874
+v 0.03001936 0.00663313 -0.00331978
+v 0.03064253 0.00651163 -0.00331978
+v 0.03661552 0.01324671 0.00137411
+v 0.03720341 0.01324671 0.00141590
+f 1 2 8
+f 1 8 16
+f 1 16 22
+f 1 22 29
+f 1 29 30
+f 1 30 25
+f 1 25 23
+f 1 23 17
+f 1 17 11
+f 1 11 3
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+f 1 6 2
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+f 2 10 7
+f 3 11 12
+f 3 12 4
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+f 16 21 22
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+f 19 27 28
+f 19 28 20
+f 21 27 22
+f 22 27 26
+f 22 24 29
+f 24 25 30
+f 24 30 29
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_91.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8231e607b9cddc26e7840b58c86dbb9cf8a8f7c8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_91.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.00865577 -0.00108595 -0.02446831
+v -0.00581350 -0.00590214 -0.01407342
+v -0.00583292 -0.00590747 -0.01339250
+v -0.00608085 -0.00550235 -0.01339250
+v -0.00689186 -0.00395116 -0.01339249
+v -0.00865577 -0.00018332 -0.02203087
+v -0.00865577 0.00220922 -0.02446830
+v -0.00477547 -0.00686516 -0.02446834
+v -0.00480086 -0.00686516 -0.02393705
+v -0.00491736 -0.00686517 -0.02071677
+v -0.00497859 -0.00686519 -0.01739564
+v -0.00498905 -0.00686520 -0.01407343
+v -0.00497262 -0.00686520 -0.01368093
+v -0.00495918 -0.00686520 -0.01339251
+v -0.00865577 0.00220920 -0.02013339
+v -0.00865577 0.00041637 -0.02120466
+v -0.00656925 -0.00120326 -0.01339248
+v 0.00642334 0.00220922 -0.02446830
+v 0.00554064 -0.00686516 -0.02446834
+v -0.00092205 -0.00686520 -0.01339251
+v -0.00380913 0.00220918 -0.01339247
+v 0.00436520 0.00220919 -0.01582558
+v 0.00660108 0.00194270 -0.02446830
+v 0.00660108 -0.00398133 -0.02446832
+v 0.00660108 -0.00394401 -0.02426773
+v 0.00551226 -0.00686516 -0.02436425
+v 0.00660108 -0.00092693 -0.02132284
+v 0.00345412 0.00220918 -0.01339247
+v 0.00386784 0.00220918 -0.01446048
+v 0.00660108 -0.00045073 -0.02109948
+v 0.00660108 0.00173303 -0.02403893
+v 0.00660108 0.00179344 -0.02416146
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 15
+f 1 15 7
+f 1 7 18
+f 1 18 23
+f 1 23 24
+f 1 24 19
+f 1 19 8
+f 1 8 9
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+f 3 13 14
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+f 3 28 21
+f 3 21 17
+f 3 17 5
+f 3 5 4
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+f 5 16 6
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+f 7 29 22
+f 7 22 18
+f 8 19 26
+f 8 26 20
+f 8 20 14
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+f 8 13 12
+f 8 12 11
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+f 8 10 9
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+f 20 27 28
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+f 22 32 23
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+f 23 31 30
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+f 23 27 25
+f 23 25 24
+f 25 27 26
+f 27 30 28
+f 28 30 29
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_92.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5366686b58542b74ecb0141308aa81bb80537fc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_92.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.00625763 0.01636913 -0.01339134
+v 0.00689121 0.01669544 -0.01339134
+v 0.01683285 0.01180228 -0.00807484
+v 0.01683285 0.01157219 -0.00549396
+v 0.01676866 0.01157219 -0.00508583
+v 0.01250027 0.01400829 -0.00332022
+v 0.00625763 0.01766874 -0.00921837
+v 0.00625763 0.02581794 -0.01339131
+v 0.00811490 0.01741497 -0.01339134
+v 0.01683285 0.01246325 -0.00780077
+v 0.01185013 0.02581794 -0.01339131
+v 0.01505737 0.02581791 -0.00625102
+v 0.01683285 0.01157219 -0.00483938
+v 0.00625763 0.02021221 -0.00471415
+v 0.00625763 0.01843430 -0.00755824
+v 0.01683285 0.01163215 -0.00456532
+v 0.01640736 0.01242140 -0.00332022
+v 0.00626178 0.02140586 -0.00332019
+v 0.00625763 0.02140446 -0.00332216
+v 0.00625763 0.02581790 -0.00332018
+v 0.01683285 0.01494537 -0.00663849
+v 0.01507601 0.02581791 -0.00605780
+v 0.01683285 0.01987056 -0.00332020
+v 0.01683285 0.01941597 -0.00383874
+v 0.01683285 0.01929465 -0.00397380
+v 0.01683285 0.01243395 -0.00332022
+v 0.00625763 0.02141562 -0.00332019
+v 0.01507187 0.02581790 -0.00332018
+v 0.01512984 0.02581791 -0.00434050
+v 0.01514641 0.02581790 -0.00378647
+v 0.01513709 0.02581790 -0.00363959
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 15
+f 1 15 14
+f 1 14 19
+f 1 19 27
+f 1 27 20
+f 1 20 8
+f 1 8 11
+f 1 11 9
+f 1 9 2
+f 2 9 3
+f 3 10 21
+f 3 21 25
+f 3 25 24
+f 3 24 23
+f 3 23 26
+f 3 26 16
+f 3 16 13
+f 3 13 4
+f 3 9 11
+f 3 11 12
+f 3 12 10
+f 4 13 5
+f 5 13 6
+f 6 14 15
+f 6 15 7
+f 6 13 16
+f 6 16 17
+f 6 17 26
+f 6 26 23
+f 6 23 28
+f 6 28 20
+f 6 20 27
+f 6 27 18
+f 6 18 19
+f 6 19 14
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+f 8 31 30
+f 8 30 29
+f 8 29 22
+f 8 22 12
+f 8 12 11
+f 10 12 21
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 21
+f 16 26 17
+f 18 27 19
+f 22 29 23
+f 23 29 30
+f 23 30 31
+f 23 31 28
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_93.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1a1238425817b3d04d1c3beaa2899da72c12980
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_93.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.01330915 0.02581794 -0.01444847
+v 0.01330915 0.02427463 -0.01560756
+v 0.01330915 0.02581797 -0.02166864
+v 0.01185095 0.02581794 -0.01339239
+v 0.00811114 0.01741426 -0.01339242
+v 0.01330915 0.02277759 -0.01676991
+v 0.01330915 0.02544624 -0.02213270
+v 0.01298269 0.02581797 -0.02166864
+v 0.00219129 0.02581794 -0.01339239
+v 0.00802771 0.01427556 -0.01878343
+v 0.01330915 0.01719300 -0.02343169
+v 0.01330915 0.01776288 -0.02248078
+v 0.01330915 0.01866834 -0.02102243
+v 0.01330915 0.02056024 -0.01856654
+v -0.00174439 0.01104135 -0.01339244
+v 0.01330915 0.02414448 -0.02332107
+v 0.01283034 0.02276604 -0.02446823
+v 0.01277955 0.02581797 -0.02158948
+v 0.00202444 0.02581794 -0.01393886
+v -0.01360948 0.01970973 -0.01339241
+v 0.00487917 0.01104138 -0.02213926
+v 0.00622492 0.01104139 -0.02403890
+v 0.00652599 0.01104139 -0.02446827
+v 0.00734214 0.01162430 -0.02446827
+v 0.01330915 0.01708163 -0.02374288
+v -0.02374794 0.01104135 -0.01339244
+v 0.01330915 0.02269372 -0.02446823
+v 0.01023678 0.02166098 -0.02446823
+v -0.01011633 0.01276118 -0.02446826
+v -0.00939449 0.01462850 -0.02294812
+v 0.00627570 0.02581796 -0.01841040
+v 0.00200993 0.02581794 -0.01402018
+v -0.01384526 0.01958533 -0.01339241
+v 0.00297843 0.02581795 -0.01651618
+v 0.00310902 0.02581795 -0.01660943
+v -0.01013810 0.01104139 -0.02446827
+v 0.01330915 0.01686177 -0.02446825
+v -0.02335982 0.01252104 -0.01339243
+v -0.02233690 0.01109777 -0.01574639
+v -0.02234416 0.01104136 -0.01575399
+v -0.01018888 0.01244152 -0.02446826
+v -0.02227886 0.01104136 -0.01581145
+v -0.02153888 0.01332236 -0.01520859
+v -0.01929718 0.01454458 -0.01587650
+v 0.00594198 0.02581796 -0.01823692
+v -0.02190162 0.01492932 -0.01339243
+v -0.02279395 0.01392985 -0.01339243
+v -0.02296081 0.01241834 -0.01408962
+v -0.02248925 0.01452722 -0.01339243
+f 1 2 6
+f 1 6 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 25
+f 1 25 37
+f 1 37 27
+f 1 27 16
+f 1 16 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 31
+f 1 31 45
+f 1 45 35
+f 1 35 34
+f 1 34 32
+f 1 32 19
+f 1 19 9
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+f 4 46 49
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+f 4 26 15
+f 4 15 5
+f 5 10 11
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+f 5 14 6
+f 5 15 10
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 9 19 20
+f 10 21 22
+f 10 22 23
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+f 10 24 11
+f 10 15 21
+f 11 24 25
+f 15 26 40
+f 15 40 42
+f 15 42 36
+f 15 36 23
+f 15 23 22
+f 15 22 21
+f 16 27 17
+f 17 27 37
+f 17 37 24
+f 17 24 23
+f 17 23 36
+f 17 36 41
+f 17 41 29
+f 17 29 28
+f 17 28 18
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 19 32 20
+f 20 30 33
+f 20 32 34
+f 20 34 35
+f 20 35 30
+f 24 37 25
+f 26 38 39
+f 26 39 40
+f 29 41 42
+f 29 42 39
+f 29 39 43
+f 29 43 44
+f 29 44 30
+f 30 44 33
+f 30 35 45
+f 30 45 31
+f 33 44 46
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+f 38 48 39
+f 39 42 40
+f 39 48 47
+f 39 47 49
+f 39 49 43
+f 43 49 44
+f 44 49 46
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_94.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d0ad579531f919611ede7121afde8cccf4ad7af
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_94.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00757706 -0.04062127 0.02030728
+v 0.00876252 -0.04153259 0.02030728
+v 0.00004681 -0.04062127 0.02030728
+v 0.00601687 -0.04062128 0.02154518
+v 0.01459437 -0.04628034 0.02030726
+v 0.00004111 -0.04064897 0.02030728
+v 0.00004966 -0.04062127 0.02032006
+v 0.00292640 -0.04062128 0.02254900
+v 0.00632320 -0.04628036 0.02552873
+v 0.00738043 -0.04628036 0.02501711
+v 0.00799311 -0.04561390 0.02416663
+v 0.00845761 -0.04628036 0.02440072
+v 0.00345644 -0.04628034 0.02030726
+v 0.00062957 -0.04324888 0.02179051
+v 0.00041014 -0.04064898 0.02186769
+v 0.00069938 -0.04313253 0.02030727
+v 0.00041442 -0.04062128 0.02185901
+v 0.00290360 -0.04062128 0.02255002
+v 0.00367159 -0.04628036 0.02531509
+v 0.00293922 -0.04628035 0.02241916
+v 0.00043721 -0.04062128 0.02187127
+f 1 2 5
+f 1 5 13
+f 1 13 16
+f 1 16 6
+f 1 6 3
+f 1 3 7
+f 1 7 17
+f 1 17 21
+f 1 21 18
+f 1 18 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
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+f 5 19 20
+f 5 20 13
+f 6 14 15
+f 6 15 7
+f 6 16 14
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+f 8 18 9
+f 9 18 19
+f 10 12 11
+f 13 20 16
+f 14 16 20
+f 14 20 19
+f 14 19 15
+f 15 21 17
+f 15 19 21
+f 18 21 19
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_95.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d39705e39cb94a0f5e571b2d83aa41ba7ec3dc1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_95.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.01076670 0.00867213 -0.03933680
+v -0.00648952 0.00867213 -0.03933680
+v 0.01044296 0.00867213 -0.03716387
+v 0.01589606 0.00616703 -0.02446830
+v 0.01504426 0.00486685 -0.03068583
+v 0.01473910 0.00448223 -0.03257350
+v 0.01283649 0.00272017 -0.03933682
+v -0.00669915 0.00855378 -0.03933680
+v -0.00866545 0.00867212 -0.03426904
+v 0.00938418 0.00867212 -0.03403909
+v 0.01844350 -0.00812030 -0.02446835
+v 0.01552987 0.00547831 -0.02736311
+v 0.00606191 0.00867209 -0.02740386
+v 0.00297314 0.00867208 -0.02446829
+v 0.01773764 -0.00812029 -0.02677809
+v 0.01469399 -0.00558727 -0.03578273
+v 0.01354234 -0.00728688 -0.03933686
+v -0.00866545 0.00669143 -0.03933681
+v -0.00866545 0.00867208 -0.02446829
+v -0.00444891 -0.00812030 -0.02446835
+v 0.01476033 -0.00812026 -0.03592828
+v 0.01475502 -0.00728689 -0.03593992
+v 0.01311777 -0.00812025 -0.03933686
+v 0.01442067 -0.00812025 -0.03681317
+v -0.00866545 -0.00762385 -0.03933686
+v -0.00866545 -0.00107855 -0.02446832
+v -0.00465855 -0.00812030 -0.02504323
+v -0.00823026 -0.00812025 -0.03933686
+v -0.00814800 -0.00812025 -0.03732693
+v -0.00866545 -0.00709128 -0.03730073
+v -0.00866545 -0.00123142 -0.02477395
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+f 1 19 14
+f 1 14 13
+f 1 13 10
+f 1 10 3
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+f 1 4 5
+f 1 5 6
+f 1 6 7
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+f 1 18 8
+f 1 8 2
+f 2 8 9
+f 3 10 4
+f 4 11 12
+f 4 12 5
+f 4 10 13
+f 4 13 14
+f 4 14 19
+f 4 19 26
+f 4 26 20
+f 4 20 11
+f 5 12 11
+f 5 11 6
+f 6 11 15
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 8 18 9
+f 9 18 25
+f 9 25 30
+f 9 30 31
+f 9 31 26
+f 9 26 19
+f 11 20 27
+f 11 27 29
+f 11 29 28
+f 11 28 23
+f 11 23 24
+f 11 24 21
+f 11 21 15
+f 15 21 22
+f 15 22 16
+f 16 22 17
+f 17 22 21
+f 17 21 24
+f 17 24 23
+f 20 26 27
+f 25 28 29
+f 25 29 30
+f 26 31 27
+f 27 31 29
+f 29 31 30
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_96.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f859673503c3407cf37ec9127b3dde3c82b7532
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_96.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.00866545 0.00867208 -0.02446829
+v -0.00866545 0.00867212 -0.03427000
+v -0.01022142 0.00867208 -0.02446829
+v -0.00866545 -0.00107990 -0.02446832
+v -0.00866545 0.00669238 -0.03933681
+v -0.00928038 0.00867211 -0.03306626
+v -0.01030774 0.00867208 -0.02484091
+v -0.01730533 0.00554691 -0.02446830
+v -0.01610318 -0.00572697 -0.02446834
+v -0.01538168 -0.00572697 -0.02493557
+v -0.00866545 -0.00123146 -0.02477253
+v -0.00891483 0.00647542 -0.03933681
+v -0.01585593 0.00467750 -0.02955110
+v -0.00993687 0.00867211 -0.03172569
+v -0.00866545 -0.00762531 -0.03933686
+v -0.01046227 0.00867209 -0.02736193
+v -0.01048252 0.00867209 -0.02829203
+v -0.01915011 -0.00199718 -0.02613348
+v -0.01955295 -0.00156009 -0.02446833
+v -0.01692593 -0.00573335 -0.02446834
+v -0.00866545 -0.00709089 -0.03730199
+v -0.00998163 0.00541934 -0.03933681
+v -0.01246478 0.00458500 -0.03621173
+v -0.01195749 0.00384958 -0.03842710
+v -0.01176246 0.00339811 -0.03933682
+v -0.01292411 0.00080099 -0.03933683
+v -0.01346443 -0.00053746 -0.03933683
+v -0.01575575 -0.00571100 -0.02954386
+v -0.01204488 -0.00576680 -0.03933685
+v -0.01915011 -0.00277409 -0.02613348
+v -0.01955295 -0.00171961 -0.02446833
+v -0.01781475 -0.00527232 -0.02446834
+v -0.01334081 -0.00286019 -0.03933684
+v -0.01599235 -0.00314737 -0.03342582
+v -0.01822505 -0.00499793 -0.02487589
+v -0.01228147 -0.00565035 -0.03914763
+v -0.01237526 -0.00541106 -0.03933685
+v -0.01322678 -0.00402316 -0.03933684
+v -0.01947622 -0.00361322 -0.02446833
+v -0.01878136 -0.00455603 -0.02446834
+f 1 2 6
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+f 1 14 17
+f 1 17 16
+f 1 16 7
+f 1 7 3
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+f 1 8 19
+f 1 19 31
+f 1 31 39
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+f 1 5 2
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+f 4 9 10
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+f 5 22 12
+f 7 16 8
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+f 8 17 14
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+f 13 24 25
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+f 13 26 27
+f 13 27 18
+f 15 20 28
+f 15 28 29
+f 18 30 31
+f 18 31 19
+f 18 27 30
+f 20 32 28
+f 22 25 24
+f 22 24 23
+f 27 33 34
+f 27 34 30
+f 28 32 35
+f 28 35 36
+f 28 36 29
+f 29 36 37
+f 30 34 38
+f 30 38 39
+f 30 39 31
+f 32 40 35
+f 33 38 34
+f 35 40 36
+f 36 40 39
+f 36 39 37
+f 37 39 38
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_97.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..079ba9869a4a0956120b5afcdb582d4a83c88d86
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_97.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.01635204 -0.02694822 -0.00332037
+v 0.01635204 -0.02969725 -0.00332038
+v 0.01635204 -0.02691601 -0.00332205
+v 0.01566283 -0.02544277 -0.00332036
+v 0.01026402 -0.02969725 -0.00332038
+v 0.01635204 -0.02969725 -0.00342429
+v 0.01635204 -0.02706865 -0.00422875
+v 0.01245496 -0.01539188 -0.02044202
+v 0.01247861 -0.01539189 -0.01934259
+v 0.01540944 -0.02520050 -0.00332036
+v 0.00718285 -0.01539193 -0.00748679
+v 0.01038058 -0.02969725 -0.00350641
+v 0.00400877 -0.02210557 -0.00332035
+v 0.00093098 -0.01539192 -0.01052699
+v 0.00761023 -0.01929346 -0.02004148
+v 0.01479118 -0.02969724 -0.00434272
+v 0.01635204 -0.02969304 -0.00363546
+v 0.01635204 -0.02710786 -0.00423545
+v 0.01171677 -0.01782021 -0.02044203
+v 0.00565747 -0.01539188 -0.02044202
+v 0.01635204 -0.02712886 -0.00423713
+v 0.00619464 -0.01539194 -0.00563820
+v 0.00567943 -0.01539194 -0.00472982
+v 0.00644465 -0.01685259 -0.00332033
+v 0.01298538 -0.02969724 -0.00428071
+v -0.00090523 -0.01539195 -0.00332033
+v 0.00736529 -0.01856523 -0.02044203
+v 0.00962211 -0.01930746 -0.02044203
+v 0.01085356 -0.01899236 -0.02044203
+v 0.01155460 -0.01925145 -0.01962081
+v 0.00422161 -0.01539195 -0.00332033
+v 0.00600207 -0.01647447 -0.00332033
+f 1 2 6
+f 1 6 17
+f 1 17 21
+f 1 21 18
+f 1 18 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
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+f 1 24 32
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+f 1 26 13
+f 1 13 5
+f 1 5 2
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+f 13 26 14
+f 14 20 27
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+f 15 28 25
+f 16 25 28
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 19
+f 19 30 29
+f 23 31 32
+f 23 32 24
+
diff --git a/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_98.obj b/dataset/livingroom_supplies/ornaments/98d56d13bfba58f18b4dca287a037217/mjcf/mesh/houseplant_006_collision_98.obj
new file mode 100644
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--- /dev/null
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