diff --git a/.gitattributes b/.gitattributes
index 0f671d281d9af8f5a609e22decc66b9a011f52f6..eb615eb10ff9409ab76f7d671908b03a8c722c57 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4899,7 +4899,5 @@ dataset/livingroom_supplies/ornaments/0ff120be6cc8572fbe0cd072da5914f5/diffuser_
 dataset/livingroom_supplies/ornaments/0ff120be6cc8572fbe0cd072da5914f5/mesh/diffuser_bottle_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/mesh/watering_can_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/15d3fed0b5f654bd98978b4e20a94c52/watering_can_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/0d9910b8a4c951be9fa45755e9f0fb01/candle_holder_027.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/0d9910b8a4c951be9fa45755e9f0fb01/mesh/candle_holder_027.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/0d9910b8a4c951be9fa45755e9f0fb01/mesh/candle_holder_027.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/0d9910b8a4c951be9fa45755e9f0fb01/mjcf/mesh/candle_holder_027.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/houseplant_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mesh/houseplant_008.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/houseplant_008.urdf b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/houseplant_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4748751a813b0c2fd88b4aaf2da938e0a3764f31
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/houseplant_008.urdf
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="houseplant_008">
+   <link name="houseplant_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/houseplant_008.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/houseplant_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="2.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>1a7d617cd32a5360b478f712722e058a</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>houseplant</category>
+         <name>yellow flower plant</name>
+         <color>yellow-green</color>
+         <shape>irregular</shape>
+         <material>ceramic-soil</material>
+         <description>potted houseplant with yellow flowers and green leaves</description>
+         <min_height>0.2500</min_height>
+         <max_height>0.2500</max_height>
+         <real_height>0.2500</real_height>
+         <min_mass>1.5</min_mass>
+         <max_mass>2.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414155924</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/houseplant_008.usd b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/houseplant_008.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/houseplant_008.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 5123871
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mesh/houseplant_008.glb b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mesh/houseplant_008.glb
new file mode 100644
index 0000000000000000000000000000000000000000..553d4feb44a6e88989bad29b7d24c3fba4dd433d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mesh/houseplant_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 16918976
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mesh/houseplant_008.mtl b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mesh/houseplant_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..92046067ba1e3d24898e157827813f0b8ad7c2df
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mesh/houseplant_008.mtl
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+newmtl houseplant_008_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mesh/houseplant_008.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mesh/houseplant_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff464450b96d08258d8d24551a0f263ab61d75da
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mesh/houseplant_008.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mesh/houseplant_008_collision.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mesh/houseplant_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6e8b34fe2f4dc3a906c19b037fce536ced0a510
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mesh/houseplant_008_collision.obj
@@ -0,0 +1,28419 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mesh/material.mtl
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+
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/houseplant_008.xml b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/houseplant_008.xml
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+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/houseplant_008.xml
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f46864081bd38f87686fedd093807ac9cfd4a67d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008.obj
@@ -0,0 +1,157844 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl houseplant_008_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e61e065e444327b0538b930fcead4cdd968eb732
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision.obj
@@ -0,0 +1,28419 @@
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_0.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8872734d88aaa8968778d0ab55ed920a7c74ba00
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_1.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..213680fdb7e911a7b883d6102cb104e51c7ed1a4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_1.obj
@@ -0,0 +1,193 @@
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_10.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..271ba3a858b1a1d66cb15e53a0d01258835ecd3b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_10.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_11.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c207daddfb774a4751adf8216d51374b7a72dba7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_11.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_12.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccdc3552ad8afa5dfd49d854ce6a4ea8b4ffc9f2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_12.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_13.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f749729062e273b3e077321f50dbc0733985eb89
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_13.obj
@@ -0,0 +1,778 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_14.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d24c5bfff29cddf4a95c86870d22d3fe49003cf5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_14.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_15.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74ea4735c5c29367068f2eb70204ed807bcc4027
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_15.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_16.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31b3900f29dd78e73041b1a4c76ad9509054f8b7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_16.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_17.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9a68af3600d918c5fe778c119e71695d0ae7682
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_17.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_18.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eace966ea92c6b2c2989bc5b0abb9fe874b9c30e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_18.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.00858731 0.05817132 -0.01460865
+v -0.00858731 0.05817139 -0.03382896
+v -0.00893244 0.05817132 -0.01460865
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+v -0.01847390 0.05817141 -0.03734278
+v -0.00858731 0.05513333 -0.03734279
+v -0.01908097 0.05817135 -0.02287136
+v -0.01908097 0.05409593 -0.01460866
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+v -0.00858731 0.02570859 -0.02482978
+v -0.01908097 0.05817141 -0.03734278
+v -0.00858731 0.03190661 -0.03734287
+v -0.01908097 0.03921932 -0.01460872
+v -0.01015787 0.02352319 -0.01460877
+v -0.01908097 0.02046668 -0.01807810
+v -0.01578167 0.02046668 -0.02030344
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+v -0.01451721 0.02046670 -0.02403090
+v -0.01451721 0.02046670 -0.02503898
+v -0.00858731 0.02688250 -0.02879757
+v -0.01908097 0.03819318 -0.03734285
+v -0.00858731 0.02817452 -0.03186631
+v -0.01050711 0.03053338 -0.03734288
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+v -0.01769119 0.02670524 -0.01460876
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+v -0.01908097 0.02046672 -0.02967882
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+v -0.01578167 0.02489273 -0.01460877
+v -0.01610523 0.02512529 -0.01460877
+v -0.01649761 0.02547967 -0.01460877
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+v -0.01908097 0.02613683 -0.03218009
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+v -0.01515201 0.02994275 -0.03734288
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+v -0.01713754 0.03154116 -0.03734287
+v -0.01708516 0.03142303 -0.03734287
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_19.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9365fc8f273c56423a28ce8c205f6c3afd1bf1fe
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_19.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.07566444 -0.03925534 -0.03726983
+v 0.07454337 -0.04173145 -0.03493394
+v 0.07501798 -0.04186934 -0.03726984
+v 0.07488160 -0.04164626 -0.03959561
+v 0.07512163 -0.03925533 -0.03975448
+v 0.07467975 -0.03671231 -0.03963278
+v 0.07459519 -0.02819506 -0.02345719
+v 0.07459519 -0.02819507 -0.02221656
+v 0.07459519 -0.03003035 -0.02221657
+v 0.07203938 -0.04221004 -0.03444716
+v 0.05967489 -0.04706080 -0.04914208
+v 0.07139565 -0.03058603 -0.01461051
+v 0.06986543 -0.03165475 -0.01461052
+v 0.06811427 -0.03224690 -0.01461052
+v 0.06346907 -0.04342269 -0.04914207
+v 0.06531569 -0.03556041 -0.04914204
+v 0.06601670 -0.03097932 -0.04914202
+v 0.06566756 -0.03005661 -0.04914202
+v 0.06349361 -0.02715667 -0.04914201
+v 0.07167660 -0.02634357 -0.02067506
+v 0.07219758 -0.02634360 -0.01461050
+v 0.07228214 -0.02683436 -0.01461050
+v 0.06791788 -0.04212893 -0.03429841
+v 0.06434737 -0.03273361 -0.01461052
+v 0.06379638 -0.03280053 -0.01461052
+v 0.06004585 -0.03280459 -0.01461052
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+v 0.05143190 -0.04225465 -0.03825019
+v 0.05966944 -0.02636781 -0.04914201
+v 0.07058826 -0.02634356 -0.02323408
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+v 0.05967489 -0.03278025 -0.01461052
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+v 0.05544157 -0.04630438 -0.04914208
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+v 0.05218201 -0.04198286 -0.04914206
+v 0.05264026 -0.03512035 -0.04914204
+v 0.05177286 -0.03925327 -0.04914205
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_2.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a940d496f9d8c94c7b65bb6f07ca1d6734ae78f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_2.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.06270971 -0.07925716 0.07364968
+v -0.06115427 -0.07925716 0.07364968
+v -0.06270971 -0.07771357 0.07364968
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+v -0.06112372 -0.07915788 0.07021692
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+v -0.06206809 -0.07469088 0.06361072
+v -0.06207782 -0.07869132 0.06794487
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+v -0.06165701 -0.07869132 0.06794487
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+v -0.04904547 -0.06134195 0.02474517
+v -0.04852190 -0.06054285 0.02056536
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_20.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abcf97c99f31217fd1da9f312466c045d8cde92f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_20.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v 0.03172795 -0.10966395 0.08675108
+v 0.03128375 -0.11380541 0.08675106
+v 0.03100673 -0.10966393 0.08261769
+v 0.02948785 -0.10538879 0.08265800
+v 0.03019236 -0.10552248 0.08675109
+v 0.02897200 -0.10314264 0.08942803
+v 0.02947830 -0.10552249 0.09028578
+v 0.03016131 -0.10928682 0.09128170
+v 0.02919410 -0.11267399 0.09356715
+v 0.03000847 -0.11395342 0.09105717
+v 0.02878095 -0.12005223 0.08889258
+v 0.02883349 -0.12010951 0.08675104
+v 0.02882632 -0.12010473 0.08441378
+v 0.03018281 -0.11411093 0.08233559
+v 0.02061579 -0.10795233 0.05078250
+v 0.02061579 -0.10736274 0.05078251
+v 0.02885498 -0.10326436 0.08405692
+v 0.01875302 -0.10550324 0.04727660
+v 0.02839884 -0.10391839 0.08130516
+v 0.02899827 -0.10308057 0.08675110
+v 0.02668414 -0.10151708 0.08675111
+v 0.02358429 -0.09981752 0.08675111
+v 0.02113880 -0.09905846 0.08948561
+v 0.02667458 -0.10242892 0.09083845
+v 0.02116268 -0.10690941 0.10608824
+v 0.02872124 -0.10765649 0.09292239
+v 0.02919410 -0.11041827 0.09356715
+v 0.02114597 -0.10966402 0.10603642
+v 0.02069699 -0.11189826 0.10553557
+v 0.02534437 -0.11380545 0.09824743
+v 0.02475688 -0.11602538 0.09738965
+v 0.02152091 -0.12059887 0.09365347
+v 0.02276276 -0.12136271 0.09107441
+v 0.02255976 -0.12272568 0.08675103
+v 0.02294426 -0.12163003 0.08223769
+v 0.01649858 -0.11176677 0.05143876
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+v 0.01866943 -0.10733885 0.04727660
+v 0.01789089 -0.10395407 0.04727661
+v 0.01704547 -0.10298732 0.04727661
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_21.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd3914c92b527c03fe40ceb5efb9c9f728de58fa
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_21.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_22.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c09fde29e28a7d960235cdae5e8550fff361a74e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_22.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_23.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c05c5f27ff9120ef754b1a9606feb8fc3e6ce2e1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_23.obj
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_24.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84f6c724583d3c0b76e6faf386a38a872c274a67
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_24.obj
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_25.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2db64e0446c75ea33faf030e24a33279816e993
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_25.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_26.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7fa855c427d81fee2336b5fe693fe3b47ff6eab
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_26.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_27.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8c4ffa36952891b187efd5d7a25caf06710fd4a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_27.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_28.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dad52bd90dd7325c7b16a0157949636705d7af7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_28.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_29.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbdeef45e1e162b819d4f3c2f07b76dc61108214
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_29.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_3.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23cee55def53cc48b6882ef6099b2e79c2809358
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_3.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.07072932 0.00552322 0.01057882
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+v -0.06712323 0.00552322 0.01057882
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_30.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2a16251ab63bbf1eed67b6058137858fb6113cd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_30.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_31.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41c29d35f6178605eacb3bab154238734c49f1b9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_31.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_32.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcb6324ac05de488890185088ae70ac21c6905be
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_32.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_33.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bb12e3857148c6a86939b360ef5b8e8edbfeeb1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_33.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_34.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffff8a0ed91bd382d371d40a3726e034ebcac297
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_34.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_35.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c33ebe346f491b79837da362d53386c5fd9c7022
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_35.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_36.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9d30d2dd5747e04fd01ffa8912bc49997d58782
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_36.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_37.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..991bfe379f586d5f044bb28e8961a83d8586b46e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_37.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.07959402 -0.06410997 0.01233808
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_38.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85ff1451549e2f1a3283bed4c8d9f7ea677b050c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_38.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_39.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c02372a9796fe2cdb273d75f6aca23e8389d138a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_39.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_4.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c387286691c4ef910c67952dbe3b1272b744f597
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_4.obj
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_40.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d880ac8e725d722d3d76b7f3f7dc5ec5a8aab9f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_40.obj
@@ -0,0 +1,691 @@
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_41.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60ef41d5368f86f1e3f87fd749393b3353ce041d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_41.obj
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_42.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03c8094b8a65b691980f08228ac7035a0f232ffe
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_42.obj
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_43.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..420de0c7e6bd99aac018c8b126ac3d92ce63e952
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_43.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.00599575 0.05531273 -0.00763331
+v 0.01323841 0.04935751 -0.00763333
+v 0.02060457 0.04614214 -0.01009168
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+v 0.01447000 0.04811459 -0.00763333
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+v 0.02060457 0.04513700 -0.01009168
+v -0.00825261 0.07892285 -0.01885219
+v -0.00858637 0.07903633 -0.01893752
+v -0.01349269 0.05232442 -0.03733659
+v -0.00858637 0.02382903 -0.01461430
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+v 0.01344201 0.04669344 -0.03594287
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+v -0.00817918 0.07538328 -0.03158682
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+v -0.01349269 0.02997347 -0.03733667
+v -0.01349269 0.02847116 -0.03878323
+v -0.01349269 0.02832526 -0.04033951
+v -0.01349269 0.02828743 -0.04140005
+v -0.00643026 0.02841176 -0.04914484
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+v 0.00267480 0.04732036 -0.04914477
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_44.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec486fc58b8d0594993566f9d90b28706b8a978e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_44.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.03968027 0.05743932 -0.03637664
+v 0.04083961 0.05743932 -0.03637664
+v 0.03850270 0.05743932 -0.03534285
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+v 0.04235326 0.05743932 -0.03633445
+v 0.03909930 0.06038661 -0.04914507
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+v 0.03498300 0.06040727 -0.04914507
+v 0.05360534 0.05743931 -0.03205580
+v 0.04339015 0.06403278 -0.04914505
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+v 0.03593392 0.05743930 -0.03047346
+v 0.02699010 0.06838468 -0.02155746
+v 0.02699010 0.06837092 -0.02459977
+v 0.04641745 0.06867056 -0.04914504
+v 0.04978344 0.07376280 -0.04819139
+v 0.05360534 0.06014209 -0.03346935
+v 0.05360534 0.05743930 -0.02991647
+v 0.03155710 0.06428413 -0.04914505
+v 0.03909149 0.05743930 -0.02890378
+v 0.04090214 0.06625341 -0.01441795
+v 0.03652271 0.08253552 -0.01008438
+v 0.02699010 0.06856027 -0.02148572
+v 0.02699010 0.07250256 -0.02437189
+v 0.04834013 0.07288483 -0.04914502
+v 0.04978344 0.07521921 -0.04819138
+v 0.05360534 0.06151586 -0.03329633
+v 0.05360534 0.05872700 -0.02908943
+v 0.04540401 0.06617766 -0.01437153
+v 0.03309159 0.06872565 -0.04914504
+v 0.04317912 0.06614323 -0.01432511
+v 0.04500801 0.08282127 -0.00617706
+v 0.04475270 0.08498006 -0.00603780
+v 0.03642892 0.08498008 -0.01008859
+v 0.02699010 0.07250255 -0.02192876
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+v 0.05360534 0.06322361 -0.03252837
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_45.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc9767b311d86ca1e6df39d1587ccbb39f5061ea
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_45.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.04811150 0.00257694 -0.00287908
+v -0.04626846 0.00089310 -0.00287909
+v -0.04601888 -0.00445506 0.00152514
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+v -0.03756524 0.00257694 -0.00287908
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+v -0.04989694 0.00257690 0.00800510
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+v -0.02087234 -0.00894496 0.01057464
+v -0.03427274 0.00257693 0.00035825
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_46.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd6f82dd6b96d17e4838d6da6b17e370d24b27ed
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_46.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.06659407 -0.06824820 0.07432010
+v 0.06659127 -0.06822815 0.07432010
+v 0.06621987 -0.07070373 0.07432009
+v 0.06640697 -0.06824819 0.07021140
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_47.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37b0e933c2722e47c38c6155cee464c20556d8cc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_47.obj
@@ -0,0 +1,220 @@
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_48.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b3d5ca10fc531f5ccb832b638e79332fb5a9f8d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_48.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_49.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a4923f34a841db439e682040ad551125c50fd6c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_49.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_5.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..493574a7837f771e8a1d3547021f03e0dd25f4c3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_5.obj
@@ -0,0 +1,763 @@
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_50.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5003698f1590d61a6209de2da143bf1ea320ec7c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_50.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_51.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a543ef1b0f9e996c4ff31298530d36069cd13d1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_51.obj
@@ -0,0 +1,1621 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_52.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f26cc5557378ac4b928b2400fe24ae5790677542
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_52.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_53.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60371f4a2f27c5b0852793aba20f907272812d39
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_53.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_54.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f38278942a23ee4244c71cf7ee1237c5b604a42b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_54.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_55.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ae7ae6576698f901849812d236bdfd8fe442200
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_55.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_56.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84e70880024e211cc7bebc1d1547c94730f36e75
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_56.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_57.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eec7caf3df303f1806f44fbc9e46742b49af101a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_57.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_58.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..980c21f16da8873ed8cc6842553a807a080fc8da
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_58.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_59.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cc4e193d8fd03ae9241ee91be953a570b253970
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_59.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_6.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e86eeaf08ecba03867e1577148a5272dc673f63
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_6.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_60.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72b78f90272bfe3d974c1789a0f764f488a020a7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_60.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.00011618 0.05920672 0.03665248
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+v 0.01217288 0.05920672 0.03665248
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+v 0.00573140 0.05920670 0.04124686
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_61.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12386a47e0b2731b2a696b0d0f74be917f2b23b0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_61.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_62.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73eee9bdc5f631719358b201a2dd984c29c0a7f7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_62.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_63.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19869c5d954237b2cd8e1a3747f9f9b2970f7e2a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_63.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+v 0.01811926 0.01445710 -0.01291938
+v 0.01814842 0.01052300 -0.01461316
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_64.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..098ac256ba804d7060c00dc46a8e3b56d5e24113
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_64.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_65.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35b2ad3c6e0bc7f03a1e3b4d7d7074fc9ce7ae2b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_65.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_66.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..936024a11eb76a7e8625f7a2bc37817bbe7483db
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_66.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.04341636 -0.06726955 0.01289472
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_67.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a569e3cc2945047be70e047abaf3a46313bc6954
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_67.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_68.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4634f945dfa73aac43e045c47d48dd0ffea3ebca
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_68.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_69.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48d9cdb7b7cc71a34ba98db661b7ace7017b89bd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_69.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_7.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd736ba93e457f9a8d72708ff645fddcc21f13d5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_7.obj
@@ -0,0 +1,481 @@
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_70.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ad0f57e9b2f56b4014dfbaac73856444da22602
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_70.obj
@@ -0,0 +1,193 @@
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_71.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..974f27f060cd369d4a1ccd2eed882bbe11b8dd2c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_71.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.03974412 0.00259545 -0.00287908
+v -0.03756575 0.00259545 -0.00287908
+v -0.03974412 0.00259540 0.01057205
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+v -0.03974412 0.05601168 0.00004311
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+v -0.03426895 0.00259544 0.00036157
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+v -0.03248978 0.00365947 0.01057205
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+v -0.03471632 0.07529098 0.01057232
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+v -0.03361165 0.07499151 0.00116377
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+v -0.02396214 0.01190403 0.01057208
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+v -0.01311847 0.08296018 0.00193544
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+v -0.00458739 0.07397470 0.00781624
+v -0.00488335 0.07101106 0.01057230
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_72.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c732dacbf13372ececa4c9a142645c797677c78c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_72.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.01844017 -0.08034606 -0.01800034
+v 0.02359063 -0.08080964 -0.01960715
+v 0.02090186 -0.07964063 -0.01841499
+v 0.02359063 -0.06767513 -0.01845459
+v 0.02359063 -0.06588467 -0.01845458
+v 0.01810437 -0.07613698 -0.01803081
+v 0.01581420 -0.07725559 -0.01803081
+v 0.01581420 -0.07988585 -0.01803082
+v 0.02359063 -0.08371534 -0.02127494
+v 0.03230198 -0.08154862 -0.03026330
+v 0.03297840 -0.07925764 -0.03026329
+v 0.03903962 -0.05899822 -0.03721488
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+v 0.03302430 -0.05289455 -0.03402257
+v 0.02402306 -0.05746981 -0.03056506
+v 0.01435990 -0.06865935 -0.02523550
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+v 0.01435990 -0.07269377 -0.02395495
+v 0.01581420 -0.07988585 -0.01948823
+v 0.02004667 -0.08296624 -0.02178411
+v 0.01435990 -0.07281469 -0.02399154
+v 0.01435990 -0.07677856 -0.02523553
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+v 0.01435990 -0.07712454 -0.02899491
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+v 0.03903962 -0.06549825 -0.04914552
+v 0.03903962 -0.06419153 -0.04551115
+v 0.03903962 -0.06321065 -0.04340735
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+v 0.03903962 -0.05119473 -0.04914547
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+v 0.03276098 -0.05119477 -0.03836431
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+v 0.03033552 -0.07600922 -0.04914556
+v 0.02359063 -0.05849766 -0.04914549
+v 0.02359063 -0.07545831 -0.04914556
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_73.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d05f97d7d4738d7a99a46301884fda701e47e897
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_73.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.06648119 0.03030422 0.08928247
+v 0.06638126 0.02760103 0.08928246
+v 0.06621472 0.02841763 0.08675266
+v 0.06621472 0.02998041 0.08675267
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+v 0.04520864 0.03307030 0.04346267
+v 0.04491776 0.03147425 0.04104107
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_74.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..976e4651001e7537a8ba5cceb7388f7cc5f62707
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_74.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.02692355 0.09740995 -0.00742826
+v -0.02403780 0.10010218 -0.00960297
+v -0.02692355 0.10063743 -0.00884325
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+v -0.02710631 0.07796568 -0.03409934
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_75.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72303dcaed8f98b7ef6d0b6e327856eb4da6c6e1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_75.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_76.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eb4d073a6e0b2bddf2b6f9f1494c667709a2d88
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_76.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_77.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8a7bd503b99721cc76601e5871fd5087059e232
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_77.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_78.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..637ab5193917ea8157b1f02adeb3e5e20b91a69a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_78.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_79.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2537ac96ff378b03ca8d356b8ccd80b071d7498
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_79.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_8.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca48ebf7ce906ac4ec2daf8264e0a53d65cfad50
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_8.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_80.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c6af03c693fe1915dc0dd1af1b8d8a8eb64062a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_80.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.01834575 0.08196171 0.09495720
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+v 0.01843851 0.08783480 0.10212152
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_81.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5df808034d8203a1ff3124128e7e74b18afb4501
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_81.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_82.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffaed973f1f4b53a0b3a144d19c9352adb96d170
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_82.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.02606452 0.09169208 -0.03864715
+v -0.02551573 0.08932142 -0.03409930
+v -0.02279971 0.09160452 -0.03875171
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_83.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8847a5f07690696794878821e8b0bc6f082f90f0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_83.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_84.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b817b6e5186dc604fb4c71a29507a5ddbc737f12
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_84.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_85.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..010877767dc0f89c8cba24955e7e49e7840f9c79
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_85.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_86.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6da5fd6d6aa018e1e417f7677149863dc7caf834
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_86.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_87.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77fb6152c4aaef585c0a94329e87bda9102b4e6f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_87.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_88.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebc4b4b1bd3c0c868ca0ead02d6500fe9a1ecd6d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_88.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
+v 0.07621159 -0.06824897 0.09502511
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_89.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2cd53a6dd5b25186ea858750a0978976d8e4884
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_89.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_9.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbcf78c29d71597d531966b7e8445209f2c705ab
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_9.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_90.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1faa734e65abbdcc3ffd679b05c84a16d3b0df2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_90.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_91.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26619c2aeb800a41a7e7e75c5933e7b0e388ce17
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_91.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_92.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f8644c8920142d59eca5709939c06a430021280
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_92.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_93.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9807bf9883ac003dcfa3f76dcfb2520d28500ce2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_93.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_94.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3123f9f9fc9c7daa740dd0a930bec9d90a715543
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_94.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_95.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d05bf4b23ef04e175c57392e11a9d6a73707dbb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_95.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_96.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..552848c55c8d6486aa25f0d4ec7e0bf685cb2ca6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_96.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_97.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f0ff24ccf0a23457ecc984df123a9944a680135
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_97.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v -0.00191520 -0.01442892 -0.00125110
+v -0.00191520 -0.01454731 -0.00137107
+v -0.00191520 -0.01335190 -0.00153388
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_98.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f88d58e0f14c82da8cf01adda233965d200d5a0f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_98.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_99.obj b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c68c693be01a10ed87c5586e7989a63f1d48c0e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_collision_99.obj
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..72dc925077aebe890df0f6d0314287d5f39d6179
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/mjcf/mesh/houseplant_008_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/textures/material_0.png b/dataset/livingroom_supplies/ornaments/1a7d617cd32a5360b478f712722e058a/textures/material_0.png
new file mode 100644
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