diff --git a/.gitattributes b/.gitattributes
index 18d48d6404c114abf0090b5b6220bce66b6e46e6..10884764005d49799ef09d19b9b2933a4afb5300 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4941,3 +4941,5 @@ dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh
 dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/photo_frame_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/59a82f9d9134500c8756d472693ea1e0/59a82f9d9134500c8756d472693ea1e0.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/5fa5c2e2593d59b9857102406ec6bf07.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/houseplant_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mesh/houseplant_019.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/houseplant_019.urdf b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/houseplant_019.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9851d19bad51424a9947e3b3f8d14133605f2be5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/houseplant_019.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="houseplant_019">
+   <link name="houseplant_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/houseplant_019.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_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="2.2500" />
+         <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>591165a8b0fd54b9a0e357cb82f73391</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>houseplant</category>
+         <name>potted fern</name>
+         <color>green,brown</color>
+         <shape>irregular</shape>
+         <material>organic</material>
+         <description>small potted fern with exposed roots and saucer</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>3.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518200110</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.082020 -0.088553 -0.058691</min>
+            <max>0.065903 0.085253 0.191309</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>20</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/houseplant_019.usd b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/houseplant_019.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b416f0fb408fb80c11b5e401634d01eef1080bdf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/houseplant_019.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fb5585d4deae58d1e05a4244bebd9913e101328510b95e784f8594f35dd7bac
+size 5054812
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mesh/houseplant_019.glb b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mesh/houseplant_019.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6ac18c1a407db759f12f40e9347360f75888a73d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mesh/houseplant_019.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:697416e62bc42707468aaf5088c2c95449c8f40e73c5ecf60e23a872c7870e86
+size 17456216
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mesh/houseplant_019.mtl b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mesh/houseplant_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..43182ea85db72b47896fc0cd07d07e84255f84f5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mesh/houseplant_019.mtl
@@ -0,0 +1,6 @@
+newmtl houseplant_019_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/591165a8b0fd54b9a0e357cb82f73391/mesh/houseplant_019.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mesh/houseplant_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da8df156681cd601d724f0a1f7c2ab781684c054
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mesh/houseplant_019.obj
@@ -0,0 +1,136200 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl houseplant_019_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mesh/houseplant_019_collision.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mesh/houseplant_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d856662c9d99ae31c6b5ab81a486f60e8d6cc9e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mesh/houseplant_019_collision.obj
@@ -0,0 +1,15363 @@
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diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mesh/houseplant_019_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mesh/houseplant_019_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..605e8c4d5ccc2ee91d11cfd6a0f6e56acc250660
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mesh/houseplant_019_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c0a161b5260fb65d8931d1a329b4f891be8ad62bb0ccae493923ce3602ae2b7
+size 13904959
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8d12e317b6bd624dcba1018af2c759f7eff27c62
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl houseplant_019_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_019_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..605e8c4d5ccc2ee91d11cfd6a0f6e56acc250660
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c0a161b5260fb65d8931d1a329b4f891be8ad62bb0ccae493923ce3602ae2b7
+size 13904959
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/houseplant_019.xml b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/houseplant_019.xml
new file mode 100644
index 0000000000000000000000000000000000000000..43a0ba673d2b2525137a4c3ede907e17ba27ff58
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/houseplant_019.xml
@@ -0,0 +1,142 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="houseplant_019">
+  <asset>
+    <material name="material_0" texture="texture_0_houseplant_019_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_houseplant_019_geometry_Looks_material_0" type="2d" file="mesh/houseplant_019_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/houseplant_019.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/houseplant_019_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/houseplant_019_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/houseplant_019_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_6" file="mesh/houseplant_019_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_11" file="mesh/houseplant_019_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/houseplant_019_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/houseplant_019_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/houseplant_019_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/houseplant_019_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/houseplant_019_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_24" file="mesh/houseplant_019_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/houseplant_019_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_35" file="mesh/houseplant_019_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_51" file="mesh/houseplant_019_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_53" file="mesh/houseplant_019_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/houseplant_019_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/houseplant_019_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/houseplant_019_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/houseplant_019_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/houseplant_019_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/houseplant_019_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/houseplant_019_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/houseplant_019_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/houseplant_019_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/houseplant_019_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="houseplant_019">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+      <geom type="mesh" mesh="collision_mesh_0_63" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a854866aebb83b49980a477ef56b1be33b81bb0d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019.obj
@@ -0,0 +1,136200 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl houseplant_019_geometry_Looks_material_0
+v 0.012850 0.084030 0.146925
+v 0.012850 0.084030 0.146925
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diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cdab2497558121278909dd9a9338bebf239c944
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision.obj
@@ -0,0 +1,15363 @@
+# https://github.com/mikedh/trimesh
+
+o houseplant_019_collision.obj
+v -0.01366481 0.01974422 0.12596636
+v -0.01366481 0.01986092 0.12825549
+v -0.01366481 0.02010809 0.12496817
+v -0.01257021 0.00896864 0.13309294
+v -0.01366481 0.02003942 0.12960336
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diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_0.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f1feffd824aaa678b8892c662e368badfe1854c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_1.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1c5a41f5af25270692345ccc5b2a8d7d6cd4603
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_1.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_10.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..123486d4bb1946b6aa5b450ff39ec77d30b0e341
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_10.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_11.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b9f068dcaa462463dda602ea603d40fdd28de7b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_11.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_12.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4442525a1198a808f60870c46db7b45ac7c98fb3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_12.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_13.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8dffe1acf59a8d42b43f993f03d147e78f3449f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_13.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_14.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3307b504c5846a3410736cc2e4bf515372176c0f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_14.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00063103 -0.02132093 0.04095894
+v 0.02285485 -0.01690854 0.04095896
+v 0.00063103 -0.02072569 0.04299784
+v 0.00063103 0.02536347 0.04095911
+v 0.02352048 -0.01670540 0.04095896
+v 0.00063103 -0.01778255 0.05074527
+v 0.00063103 0.01989282 0.05137007
+v 0.01874682 0.02406430 0.04651610
+v 0.02269170 0.02694135 0.04095912
+v 0.02633313 -0.01536373 0.04095896
+v 0.02695961 -0.01044115 0.04584699
+v 0.00232775 -0.01628971 0.05148951
+v 0.00063103 -0.01671016 0.05148951
+v 0.00063103 0.01979834 0.05148552
+v 0.02178787 0.02382336 0.04589763
+v 0.02286137 0.02692717 0.04095912
+v 0.01464531 0.02028494 0.05011251
+v 0.01782014 0.02009597 0.04987027
+v 0.03098933 -0.01266622 0.04095897
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+v 0.00791062 -0.01364417 0.05148952
+v 0.00782252 -0.01370086 0.05148952
+v 0.00776379 -0.01372920 0.05148952
+v 0.02191838 -0.00681299 0.04985162
+v 0.00063103 0.01967079 0.05148964
+v 0.00070934 0.01976999 0.05148964
+v 0.02623524 0.02488160 0.04095911
+v 0.02583390 0.02532095 0.04095911
+v 0.02198691 0.02106916 0.04649754
+v 0.02928282 0.00332040 0.04544915
+v 0.03322117 0.00673128 0.04111778
+v 0.03334517 0.00685411 0.04095905
+v 0.01382958 0.01623630 0.05148963
+v 0.01951687 0.00083546 0.05148957
+v 0.02209785 0.00320701 0.04982279
+v 0.03382808 -0.01064427 0.04095898
+v 0.03348873 -0.01030885 0.04138367
+v 0.02928282 0.00215825 0.04544915
+v 0.01091578 -0.01133404 0.05148953
+v 0.01898175 -0.00353914 0.05148956
+v 0.01851189 -0.00443673 0.05148955
+v 0.01473667 -0.00820663 0.05148954
+v 0.03396186 -0.00872153 0.04095899
+v 0.03358662 0.00455343 0.04095904
+v 0.03396186 -0.00951519 0.04095899
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+f 19 36 20
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_15.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7b0f3bc2825a40d7f0ce0b79cdc1087259388e2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_15.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.00112592 -0.01121796 0.12900936
+v 0.00228689 -0.01608127 0.12999314
+v 0.00112592 -0.01121796 0.12917755
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+v 0.00112592 -0.01072276 0.12521340
+v 0.00112592 -0.00749479 0.11461945
+v 0.00301603 -0.01736509 0.12878148
+v 0.00285328 -0.01736510 0.12999134
+v 0.00377772 -0.01895768 0.13309103
+v 0.00112592 -0.00788611 0.12917213
+v 0.00300735 -0.01178960 0.13309106
+v 0.00232595 -0.00782798 0.11461945
+v 0.00643386 -0.01933669 0.12689524
+v 0.00380593 -0.01874674 0.12747033
+v 0.00112592 0.00217066 0.11461949
+v 0.00359977 -0.01904631 0.12999133
+v 0.00545083 -0.02050134 0.13309102
+v 0.00112592 -0.00521145 0.12853014
+v 0.00391226 -0.00981799 0.13309106
+v 0.00349127 -0.00765986 0.11461945
+v 0.00978008 -0.01913189 0.12700737
+v 0.00862127 -0.02231704 0.13188478
+v 0.00837171 -0.02231704 0.13188478
+v 0.00677456 -0.02110962 0.13030056
+v 0.00112592 0.00146454 0.11638274
+v 0.01646600 0.00682296 0.13249614
+v 0.01596255 0.00731205 0.12999323
+v 0.01874673 0.00879152 0.12999323
+v 0.01879447 0.00783783 0.12552995
+v 0.01745772 0.00679549 0.12366904
+v 0.01050704 -0.00027169 0.11461948
+v 0.00823717 -0.02238735 0.13309102
+v 0.01612096 0.00589982 0.13309112
+v 0.00112592 0.00079816 0.11782407
+v 0.00643169 -0.00722580 0.11461945
+v 0.01056998 -0.02039128 0.12996058
+v 0.00966941 -0.00627209 0.11461946
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+v 0.01251434 -0.01805592 0.12803458
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+v 0.01872285 0.00777667 0.13309113
+v 0.02285246 0.00828409 0.13309113
+v 0.02285246 0.00884043 0.12999323
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+v 0.02283727 0.00470466 0.12461305
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+v 0.02329298 0.00467715 0.12496570
+v 0.02185858 0.00042522 0.12330371
+v 0.02329298 0.00018984 0.12483548
+v 0.02329298 -0.00143329 0.12589161
+v 0.02329298 -0.00628133 0.13309108
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+f 1 7 6
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_16.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f2a869dab7fdb1407739c5bbc026975a3ae694e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_16.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.00464133 -0.04873425 0.13309273
+v -0.00114086 -0.05149788 0.13309272
+v -0.00464133 -0.04796410 0.13777590
+v -0.00464133 -0.03514186 0.13309278
+v 0.00158060 -0.04911693 0.13309273
+v -0.00289008 -0.04751576 0.13695993
+v -0.00464133 -0.04471051 0.13895030
+v -0.00464133 -0.03849954 0.13645018
+v -0.00365626 -0.03867246 0.13630567
+v -0.00451769 -0.03520270 0.13309278
+v 0.00170289 -0.04887996 0.13309273
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+v -0.00287049 -0.04085807 0.13696453
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+v -0.00464133 -0.03963637 0.13720709
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+v -0.00190771 -0.03655249 0.13309278
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+v 0.00214476 -0.04391631 0.13309275
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+v 0.00139548 -0.04085806 0.13329862
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_17.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25d3adf37480bcbc765b7f070c3290a9c4530a57
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_17.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.01366481 -0.03482530 0.11344109
+v -0.01366481 -0.03458877 0.11434796
+v -0.01366481 -0.03296199 0.11057276
+v -0.00999365 -0.03199486 0.11026867
+v -0.00746706 -0.03113548 0.11068599
+v 0.00528647 -0.02687539 0.11461649
+v -0.01366481 -0.03432859 0.11461646
+v -0.00999365 -0.02903564 0.10820153
+v -0.01366481 -0.02797127 0.10822635
+v -0.01243676 -0.02670716 0.10706176
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+v -0.00741140 -0.02685696 0.10700784
+v 0.00528647 -0.02642073 0.11431780
+v 0.00528647 -0.01898330 0.11461652
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+v -0.01366481 -0.02065472 0.10516177
+v -0.01366481 -0.01661011 0.10360253
+v -0.00999365 -0.01795043 0.10360252
+v -0.00178316 -0.01775070 0.10360252
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+v 0.00526978 -0.00797691 0.10360256
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+v -0.01366481 -0.00797691 0.10360256
+v 0.00528647 -0.02432879 0.11341849
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+v -0.01366481 -0.01561411 0.11108395
+v -0.01366481 -0.01349850 0.11010592
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_18.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbb6000dc947619933f95309764276caccb8f55e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_18.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_19.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9efb9103bcdd02129f5bcf42dd38bc82f22cd75
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_19.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_2.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58c4b547423416ccea75c65dec0f124970e7233c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_2.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+v -0.03308797 0.06091111 0.08861201
+v -0.03291702 0.06070094 0.08949065
+v -0.03052876 0.06223987 0.08861202
+v -0.03052876 0.06178480 0.08949066
+v -0.03139189 0.06149125 0.08949066
+f 1 2 6
+f 1 6 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 34
+f 1 34 33
+f 1 33 48
+f 1 48 47
+f 1 47 46
+f 1 46 57
+f 1 57 58
+f 1 58 55
+f 1 55 41
+f 1 41 35
+f 1 35 22
+f 1 22 7
+f 1 7 3
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+f 54 55 56
+f 55 58 56
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_20.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb55eb3bb7ac597d074d5312204a7ff7e4e51620
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_20.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.01366575 -0.02303123 0.11891670
+v -0.01373941 -0.02311793 0.11891670
+v -0.01366575 -0.02933494 0.11891667
+v -0.01366575 0.00455521 0.10266964
+v -0.01542699 0.00714606 0.10403649
+v -0.01890980 0.00867606 0.10870699
+v -0.02107711 0.00867605 0.11077663
+v -0.02312732 0.00867605 0.11213240
+v -0.02331147 0.00867605 0.11222924
+v -0.01410677 -0.02356164 0.11891669
+v -0.01425031 -0.02887593 0.11891667
+v -0.02331147 -0.03913219 0.11567385
+v -0.02231422 -0.03922910 0.11572365
+v -0.01983433 -0.03916279 0.11569321
+v -0.01366575 -0.03225728 0.11732293
+v -0.01366575 0.00722767 0.10055574
+v -0.01366575 0.00743167 0.10036759
+v -0.01799282 0.00867607 0.10515984
+v -0.02331147 0.00867608 0.10437958
+v -0.02331147 -0.01605939 0.11440392
+v -0.01457423 -0.02457655 0.11891669
+v -0.01433814 -0.02839142 0.11891668
+v -0.02331147 -0.03771438 0.11585369
+v -0.02331147 -0.03958100 0.11537778
+v -0.02331147 -0.04342135 0.11222075
+v -0.01366575 -0.03458801 0.11434575
+v -0.01536938 -0.03522043 0.11579283
+v -0.01366575 0.00769180 0.09590737
+v -0.02208758 0.00867608 0.10374320
+v -0.01366575 0.00726339 0.09461524
+v -0.01366575 0.00627908 0.09286379
+v -0.01366575 0.00436656 0.09071945
+v -0.02331147 0.00455521 0.10363251
+v -0.02331147 -0.03286419 0.11583435
+v -0.02331147 -0.03381790 0.11585371
+v -0.02331147 -0.03672496 0.11589520
+v -0.02331147 -0.04337545 0.11041397
+v -0.01366575 -0.03482261 0.11344098
+v -0.01366575 0.00236222 0.09065027
+v -0.02331147 -0.00633349 0.10489971
+v -0.01366575 -0.03296107 0.11057173
+v -0.01493497 -0.03509291 0.11122470
+v -0.02331147 -0.04082030 0.10921592
+v -0.01366575 0.00069959 0.09091588
+v -0.01366575 -0.00103955 0.09191473
+v -0.02331147 -0.00752181 0.10504081
+f 1 2 10
+f 1 10 21
+f 1 21 22
+f 1 22 11
+f 1 11 3
+f 1 3 15
+f 1 15 26
+f 1 26 38
+f 1 38 41
+f 1 41 45
+f 1 45 44
+f 1 44 39
+f 1 39 32
+f 1 32 31
+f 1 31 30
+f 1 30 28
+f 1 28 17
+f 1 17 16
+f 1 16 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 4 16 5
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 29
+f 6 29 19
+f 6 19 9
+f 6 9 8
+f 6 8 7
+f 9 19 33
+f 9 33 40
+f 9 40 46
+f 9 46 43
+f 9 43 37
+f 9 37 25
+f 9 25 24
+f 9 24 12
+f 9 12 23
+f 9 23 36
+f 9 36 35
+f 9 35 34
+f 9 34 20
+f 9 20 21
+f 9 21 10
+f 11 22 23
+f 11 23 12
+f 12 24 13
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 26
+f 17 28 18
+f 18 28 29
+f 19 29 28
+f 19 28 30
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 20 34 21
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+f 21 35 36
+f 21 36 22
+f 22 36 23
+f 25 37 38
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+f 37 43 44
+f 37 44 45
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+f 38 42 41
+f 39 46 40
+f 39 44 43
+f 39 43 46
+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_21.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44e7729c56e28d7116002114315073a480e65300
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_21.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.02329509 0.00805243 0.13309294
+v 0.02561316 0.00721680 0.13309294
+v 0.02906870 0.00862696 0.12146264
+v 0.02329509 0.00860754 0.12999212
+v 0.01648014 0.00057058 0.12165958
+v 0.02329509 -0.00464320 0.13309289
+v 0.02716963 0.00512772 0.13309293
+v 0.02906870 0.00862697 0.11869310
+v 0.02329386 0.00896870 0.11810815
+v 0.02752578 0.00432641 0.13309293
+v 0.02784373 0.00172252 0.13309292
+v 0.02906870 0.00658714 0.11972719
+v 0.02327907 0.00896870 0.11799922
+v 0.01648014 0.00036018 0.12156707
+v 0.01648014 -0.00021580 0.12165958
+v 0.02329509 -0.00627566 0.13308991
+v 0.02498836 -0.00464320 0.13309289
+v 0.02329386 0.00896870 0.11799922
+v 0.02906870 0.00658415 0.11959140
+v 0.02702052 0.00862698 0.11785448
+v 0.02768969 0.00045266 0.13309291
+v 0.02696136 0.00862698 0.11784851
+v 0.02329509 -0.00142599 0.12588999
+v 0.02329509 -0.00374040 0.12857448
+v 0.02412817 -0.00562805 0.13308991
+v 0.02454347 -0.00529678 0.13308991
+v 0.02590030 -0.00334946 0.13309290
+v 0.02614801 -0.00286599 0.13309290
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 6
+f 1 6 17
+f 1 17 27
+f 1 27 28
+f 1 28 21
+f 1 21 11
+f 1 11 10
+f 1 10 7
+f 1 7 2
+f 2 7 3
+f 3 8 18
+f 3 18 9
+f 3 9 4
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+f 4 9 13
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+f 9 18 13
+f 11 21 12
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+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 18 20 22
+f 19 21 28
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+f 19 27 26
+f 19 26 24
+f 19 24 23
+f 24 26 25
+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_22.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26f04e4c8194a95b052f0962b65f6e9ce111a74d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_22.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.01785426 0.02769145 0.13411266
+v 0.01835803 0.02520027 0.13413231
+v 0.01814575 0.02518820 0.13309300
+v 0.01772436 0.02769145 0.13356574
+v 0.01767208 0.02769143 0.13823862
+v 0.01747564 0.02545978 0.13819660
+v 0.01772594 0.02108853 0.13410638
+v 0.01782416 0.02108400 0.13309299
+v 0.01761030 0.02769145 0.13309301
+v 0.01694653 0.02769142 0.14071491
+v 0.01688316 0.02700940 0.14055852
+v 0.01722851 0.02247519 0.13676945
+v 0.01733782 0.01916921 0.13309298
+v 0.00217409 0.02769145 0.13309301
+v 0.01467957 0.02769142 0.14189988
+v 0.01464314 0.02642395 0.14104913
+v 0.01464314 0.02435979 0.13940035
+v 0.01563800 0.01806168 0.13309298
+v 0.00217409 0.01281524 0.13521268
+v 0.00217409 0.01242143 0.13309296
+v 0.00217409 0.02769143 0.13783380
+v 0.01038012 0.02769142 0.14222249
+v 0.00217409 0.01249537 0.13463271
+v 0.00217409 0.01227658 0.13413227
+v 0.00217409 0.01502577 0.13605540
+v 0.00217409 0.02768691 0.13788920
+v 0.00219310 0.02769143 0.13789546
+v 0.00861377 0.02769142 0.14166038
+v 0.00512225 0.02769143 0.13978641
+v 0.00731950 0.02769142 0.14110186
+v 0.00485294 0.02769143 0.13961304
+f 1 2 3
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+f 1 9 14
+f 1 14 21
+f 1 21 27
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+f 1 31 29
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_23.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ac403972737627e6dbd0edc886cc5aa0d135d54
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_23.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.03243939 0.00041055 0.04095902
+v -0.02113001 -0.00280194 0.04977948
+v -0.02113001 -0.00098929 0.04977949
+v -0.03240702 0.00049441 0.04095902
+v -0.02773632 -0.02021240 0.04095895
+v -0.02553206 -0.00282773 0.04622635
+v -0.02598845 -0.02021241 0.04238350
+v -0.02174500 -0.01608396 0.04640669
+v -0.01692217 -0.01473577 0.04970419
+v -0.01725232 -0.00386632 0.05148956
+v -0.01589934 0.00071369 0.05148957
+v -0.01424210 0.00462928 0.05148959
+v -0.00682011 0.02105926 0.05148965
+v -0.00675538 0.02118183 0.05148965
+v -0.03063973 0.00457126 0.04095904
+v -0.02560650 -0.02327650 0.04095893
+v -0.02520838 -0.02284430 0.04157741
+v -0.02147958 -0.01887067 0.04593458
+v -0.01211552 -0.01354240 0.05148952
+v -0.01373068 -0.01156848 0.05148953
+v -0.01490564 -0.00926557 0.05148954
+v -0.00410444 -0.02651479 0.04935265
+v -0.00500750 0.02375566 0.05148966
+v -0.01367242 0.02901949 0.04095913
+v -0.01384721 -0.03250748 0.04095890
+v -0.00823783 -0.03087546 0.04555314
+v -0.00615981 -0.01761280 0.05148951
+v -0.00589115 -0.03108834 0.04584073
+v -0.00375486 -0.02651479 0.04935265
+v -0.00175776 -0.01811596 0.05148950
+v -0.00325963 -0.01810951 0.05148950
+v -0.00269643 0.02375566 0.05148966
+v -0.00467735 0.02761967 0.04556469
+v -0.00999541 0.03058057 0.04095913
+v -0.00984976 -0.03494585 0.04095889
+v -0.00883988 -0.03527484 0.04095889
+v -0.00589115 -0.03531999 0.04095889
+v -0.00342471 -0.03093352 0.04567684
+v 0.00062777 -0.01778052 0.05074527
+v 0.00062777 -0.01670970 0.05148951
+v -0.00338263 0.02761967 0.04556469
+v -0.00065401 0.02180755 0.05148965
+v -0.00061193 0.02183335 0.05137008
+v -0.00590733 0.03018062 0.04095913
+v -0.00395554 -0.03498455 0.04095889
+v -0.00356713 -0.03490069 0.04095889
+v -0.00154736 -0.03255263 0.04095890
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+v 0.00062777 -0.02072202 0.04299784
+v 0.00062777 0.01967236 0.05148964
+v -0.00235333 0.02873566 0.04095913
+v 0.00062453 0.01980137 0.05148964
+v 0.00062777 0.01980137 0.05148552
+v 0.00062777 0.01989168 0.05137007
+v 0.00062777 0.02536193 0.04095911
+v 0.00062777 -0.02131548 0.04095894
+f 1 2 3
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+f 1 15 24
+f 1 24 34
+f 1 34 44
+f 1 44 51
+f 1 51 55
+f 1 55 56
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+f 1 25 16
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+f 1 5 6
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+f 22 31 27
+f 23 32 41
+f 23 41 33
+f 23 33 34
+f 23 34 24
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+f 28 36 37
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+f 33 41 34
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+f 38 45 46
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+f 39 49 56
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+f 39 50 40
+f 41 51 44
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+f 42 52 53
+f 42 53 54
+f 42 54 43
+f 43 54 55
+f 43 55 51
+f 48 56 49
+f 50 53 52
+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_24.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ef390945ccbd845bd32e583fda952ddd896c404
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_24.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.01598202 -0.02666832 0.13309142
+v -0.01515052 -0.02591486 0.13250861
+v -0.01824974 -0.02680754 0.13309142
+v -0.01433252 -0.02745658 0.13309142
+v -0.01820834 -0.02601518 0.13243230
+v -0.01366571 -0.02793158 0.13309142
+v -0.01366571 -0.02727026 0.13257383
+v -0.01366571 -0.02483176 0.13066029
+v -0.01366571 -0.02417863 0.13009829
+v -0.01366571 -0.02221923 0.12803072
+v -0.01410215 -0.02220490 0.12805570
+v -0.01632938 -0.02219466 0.12808345
+v -0.02073523 -0.02783740 0.13309142
+v -0.02029338 -0.02637553 0.13211036
+v -0.01366571 -0.04155928 0.13309137
+v -0.01366571 -0.02207591 0.12780314
+v -0.01366571 -0.02096619 0.12586322
+v -0.01410215 -0.02094776 0.12585629
+v -0.01654715 -0.02184454 0.12585629
+v -0.02285806 -0.03261815 0.13309140
+v -0.02047516 -0.02608888 0.12999282
+v -0.02158652 -0.02847209 0.12999282
+v -0.01410215 -0.04140982 0.13309137
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+v -0.01366571 -0.02074097 0.12540391
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_25.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d8d64baa9c4238e4fc583c700ddddb76955b310
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_25.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+v -0.04481966 -0.03427749 0.10711829
+v -0.04561113 -0.03278130 0.10551054
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+v -0.04566212 -0.03057504 0.10398611
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_26.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adb331d0890fa70e11a2fe4907851456a998b3eb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_26.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.01888499 -0.03886451 0.12599532
+v 0.02110273 -0.04601854 0.12828470
+v 0.02110273 -0.04601854 0.12718397
+v 0.02329515 -0.05354335 0.12671486
+v 0.01867878 -0.03886451 0.12448148
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+v 0.02329515 -0.05354335 0.12913354
+v 0.01809992 -0.03886452 0.12858590
+v 0.02329515 -0.05383779 0.12651631
+v 0.02329515 -0.05869346 0.12337934
+v 0.02329515 -0.06671445 0.11947878
+v 0.01775622 -0.03886450 0.12329546
+v 0.02297678 -0.05333614 0.12928146
+v 0.02285377 -0.05736847 0.12983715
+v 0.02329515 -0.05687499 0.12953598
+v 0.01874751 -0.04911572 0.13056078
+v 0.00075594 -0.03886454 0.13309277
+v 0.02329515 -0.06671448 0.12819934
+v 0.02285377 -0.06671445 0.11950410
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+v 0.00855241 -0.03886450 0.12198818
+v 0.01053499 -0.03886450 0.12209612
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+v 0.01602689 -0.03886450 0.12271178
+v 0.02285377 -0.06149893 0.12966656
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+v 0.02329515 -0.05736847 0.12957329
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_27.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0196b79d32952233c80f0c615f2f4677abefca0a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_27.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.01366561 0.00780399 0.13309212
+v -0.01366561 0.00666602 0.12999342
+v -0.01768165 0.00368171 0.12999341
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+v -0.01366561 0.00471520 0.12660460
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+v -0.02010289 0.00227664 0.13256195
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+v -0.01366561 -0.00892070 0.12995310
+v -0.01366561 0.00454600 0.12642049
+v -0.01410225 0.00042870 0.12484482
+v -0.01829180 0.00031257 0.12682568
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+v -0.01820786 -0.00858561 0.13309206
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+v -0.01366561 0.00042870 0.12469606
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+v -0.02048060 -0.00369857 0.12770021
+v -0.02122634 -0.00369858 0.12999339
+v -0.02190994 -0.00369859 0.13309208
+v -0.01410225 -0.00749738 0.12675990
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+v -0.01820786 -0.00671771 0.12744457
+v -0.02058714 -0.00624163 0.12999338
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_28.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1f0b19daea836a704a89f259b7f71ef0513d6ba
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_28.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_29.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e442653e828f0926ddb4b7af9fca75c94543b602
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_29.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_3.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c98c8ccf49f3816cc0cef0be82974e586ee6ad87
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_3.obj
@@ -0,0 +1,2722 @@
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diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_30.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..434d7c9c7faf34548a93ab4b06ba7caf6d62d359
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_30.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_31.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a9442fd29038ea3b670411e677034669651c31c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_31.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_32.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61c3c409deaef11920f5f2953bdf65e9ed2caeec
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_32.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00755418 0.01395653 0.12291946
+v 0.02041075 0.01036929 0.11513275
+v 0.02327820 0.00896870 0.11799898
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_33.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a0dced5b52fc2cf97ebf466d2a53c4255c8bb39
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_33.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.05967609 -0.00372635 0.11828781
+v -0.05967609 -0.00403068 0.11819478
+v -0.05967609 0.00003163 0.11812149
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_34.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e17605803f727cbe3315b0a5213627bdab518876
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_34.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.04790672 -0.00688526 0.11476281
+v -0.02331241 -0.01195381 0.10572136
+v -0.02331241 -0.01211027 0.10577116
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diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_35.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..890e775e9770e396f4b1e51c301343c9bf8222c4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_35.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_36.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39b52b8f22deb7932efe9d658b9bf255eb881fd2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_36.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_37.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..923fe01a71f50e343e5f0752a04ac2793aaa20e7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_37.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_38.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a7f8a0e20483ec6c2905cb4bd42397114ae0300
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_38.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+v -0.01622923 0.02769145 0.13309301
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_39.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e438f65bd19b3d09a04b0cad3df44da6ac587ae
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_39.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_4.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8b7920c4a33451814bb1c6afa9b45f7e1a01c41
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_4.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.01401880 0.05754829 0.15242921
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_40.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38aa8846a65cb1daca9b1441def1aa2ad823d908
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_40.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.02331241 0.02118989 0.10947612
+v -0.02671383 0.02118989 0.10895965
+v -0.02331241 0.02118992 0.10160004
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+v -0.03409706 0.03758741 0.10423328
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+v -0.03873843 0.04521789 0.08949256
+v -0.03780940 0.04550006 0.08949256
+v -0.03481503 0.04671616 0.08949256
+v -0.03424970 0.04699038 0.08949256
+v -0.03280810 0.04808328 0.08949257
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+v -0.02331241 0.04607630 0.09568426
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+v -0.04112790 0.04584979 0.08949256
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+v -0.02331241 0.05398094 0.09782840
+v -0.02769373 0.06100335 0.09127480
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+v -0.03266489 0.06039133 0.09078377
+v -0.04226422 0.05073804 0.08949258
+v -0.04129184 0.05250258 0.08949258
+v -0.03291740 0.06070132 0.08949261
+v -0.03052793 0.06178627 0.08949262
+v -0.03139289 0.06149219 0.08949262
+f 1 2 8
+f 1 8 22
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+f 1 51 42
+f 1 42 41
+f 1 41 40
+f 1 40 39
+f 1 39 31
+f 1 31 27
+f 1 27 25
+f 1 25 24
+f 1 24 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
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+f 2 11 8
+f 3 12 13
+f 3 13 14
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_41.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3b909622418dab76f6b92cf4d4ed96234d3c81c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_41.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.05967610 0.00043123 0.11036267
+v -0.05967495 0.00455758 0.11039318
+v -0.05967495 0.00436595 0.11038138
+v -0.04790787 0.00455757 0.11351438
+v -0.04790787 -0.00369769 0.11411027
+v -0.04790787 -0.00688635 0.11476419
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+v -0.05967495 -0.00683270 0.11323800
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+v -0.05967495 -0.00696812 0.11654703
+v -0.05967495 -0.00691191 0.11674272
+v -0.05967495 -0.00402985 0.11819517
+v -0.05967495 -0.00372580 0.11829055
+v -0.05967495 0.00003262 0.11812142
+v -0.05967495 0.00041077 0.11809291
+v -0.05967495 0.00865581 0.11685488
+v -0.05967495 0.01118527 0.11594135
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+v -0.05967495 0.01119806 0.11343180
+v -0.05967495 0.00961651 0.11192331
+v -0.05967495 0.00868393 0.11158896
+v -0.05967495 0.00731955 0.11113858
+v -0.04790787 0.01913139 0.11542019
+v -0.04790787 0.01693918 0.11499242
+v -0.04790787 0.00964461 0.11390480
+v -0.04790787 0.00868392 0.11381825
+v -0.04790787 -0.00676372 0.11787065
+v -0.05105989 -0.00687614 0.11757956
+v -0.05927173 -0.00697068 0.11681450
+v -0.05358404 -0.00595634 0.11978821
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+v -0.05927173 0.00043121 0.11827876
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+v -0.04790787 0.01913139 0.11556475
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+v -0.04790787 -0.00398132 0.12001833
+v -0.04790787 0.01281281 0.12040682
+v -0.04790787 0.01579963 0.12010002
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_42.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a22146527e16273dabe30475246e9095a0cac9c8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_42.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.02329615 -0.08597112 0.10103027
+v 0.02329615 -0.08517759 0.09763440
+v 0.02696317 -0.08556166 0.10103028
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+v 0.02957272 -0.07650933 0.12016033
+v 0.02696317 -0.07920410 0.11865685
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+v 0.02329615 -0.06863453 0.12734106
+v 0.02329615 -0.07321468 0.12478188
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_43.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ba5a5f3947ac0962f6f3f0f890a7a68fa951fce
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_43.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.00053051 0.00896864 0.13309113
+v 0.00018281 0.00896865 0.13014334
+v -0.00241387 0.00896864 0.13309113
+v -0.00046827 0.00769791 0.13309113
+v 0.00112375 -0.01122073 0.12917755
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+v 0.00112375 0.00079887 0.11782407
+v 0.00112375 0.00146685 0.11638093
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+v -0.00024282 0.00896865 0.12938379
+v 0.00112271 0.00217435 0.11461949
+v -0.00154116 0.00683633 0.11461951
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+v -0.00241387 0.00896867 0.12604898
+v -0.00241387 0.00556553 0.13309112
+v 0.00023094 -0.01005870 0.12798216
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+v -0.00223517 0.00896867 0.12606526
+v -0.00241387 0.00799837 0.11461951
+v -0.00241387 -0.00172875 0.11757992
+v -0.00241387 -0.00264770 0.11461947
+v -0.00070480 -0.00746781 0.12171947
+v 0.00023094 -0.01005870 0.12736185
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+v 0.00112375 -0.01072468 0.12521340
+v 0.00015268 -0.00722865 0.11461945
+v -0.00201734 -0.00369907 0.11461947
+v -0.00076679 -0.00708835 0.11757990
+v -0.00072558 -0.00685514 0.11461945
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+f 1 15 3
+f 1 3 16
+f 1 16 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
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+f 4 16 5
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+f 5 25 18
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+f 5 19 10
+f 5 10 9
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+f 10 28 31
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+f 10 29 23
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+f 10 14 13
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_44.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91b053d75ea5f0b457bb640e757cbbfea33d83fb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_44.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.01366481 0.01636528 0.10360158
+v -0.01366481 0.01703113 0.10420507
+v -0.01366481 0.01722521 0.10360158
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+v -0.01366289 0.04591041 0.10071200
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+v -0.00158778 0.02108890 0.10875036
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+v -0.01366289 0.03288904 0.10747000
+v -0.01366289 0.02558860 0.10640031
+v -0.01366289 0.02153082 0.10578324
+v -0.01366289 0.03757086 0.10755064
+v -0.01366289 0.03909665 0.10746283
+v -0.01366289 0.03991477 0.10736785
+v -0.01366289 0.04070603 0.10715072
+v -0.01366289 0.04619405 0.10474320
+v -0.01131132 0.04509824 0.10210815
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+v 0.00483049 0.02100828 0.10875036
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+v -0.00094172 0.02505413 0.10875037
+v -0.01131132 0.04509824 0.10397608
+v -0.01155743 0.04011483 0.10741255
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_45.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3c0703c8c10f823e27fdda9860e5f00927cf2dc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_45.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00755535 0.01396925 0.12469743
+v 0.00936102 0.01370960 0.12469743
+v 0.01053750 0.01354844 0.12585616
+v 0.00755535 0.01398119 0.12588328
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+v 0.01053750 0.01447661 0.12865441
+v 0.00755535 0.01421100 0.12658428
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+v 0.01433712 0.04403812 0.12469754
+v 0.01360035 0.01434232 0.12469743
+v 0.01603168 0.01593305 0.12585617
+v 0.01498501 0.01563160 0.13003668
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+v 0.01053750 0.01585544 0.13072289
+v 0.01742686 0.01761630 0.12999395
+v 0.00800911 0.01473327 0.12813585
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+v 0.00755535 0.01659261 0.13023063
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+v 0.01555805 0.03136589 0.13309221
+v 0.01637434 0.03036011 0.13309220
+v 0.01737424 0.02887681 0.13309220
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+v 0.01016211 0.01799830 0.13309216
+v 0.00755535 0.01854447 0.13252429
+v 0.01092811 0.03390570 0.13309221
+v 0.01384711 0.03252686 0.13309221
+v 0.00755535 0.01864295 0.13262456
+v 0.00808746 0.01886679 0.13309216
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_46.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b0a3335e8ca73236fddd3fe0e139594ecd526d3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_46.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.00643124 0.08054995 0.09044500
+v 0.00643124 0.08140864 0.09044500
+v 0.00872062 0.08064653 0.09051899
+v 0.01053521 0.07632846 0.09386360
+v 0.00304887 0.08070975 0.09052769
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+v 0.00025413 0.08507873 0.09066915
+v 0.00034345 0.08507873 0.09066915
+v 0.01385646 0.07641801 0.09402898
+v 0.01687685 0.07978782 0.09433147
+v 0.01499175 0.07859549 0.09364600
+v 0.00767935 0.07655673 0.09433581
+v 0.01464153 0.06770279 0.11267361
+v 0.00031054 0.08123129 0.09069307
+v 0.00025413 0.08398298 0.09066915
+v 0.01687685 0.08114698 0.09433148
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+v -0.00423532 0.08181071 0.10516401
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+v 0.01587554 0.06818746 0.11267361
+v 0.01787816 0.07887115 0.10102944
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+v 0.01053521 0.06837711 0.11267361
+v 0.00652526 0.06960808 0.11267362
+v 0.00643124 0.06964145 0.11267362
+v 0.00262108 0.07106734 0.11267362
+v 0.00193709 0.07972812 0.09234471
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+v -0.00387099 0.08088355 0.10287912
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+v 0.01702493 0.08128570 0.09689055
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+v -0.00552339 0.07885882 0.11267365
+v -0.00290729 0.08387404 0.10516402
+v -0.00052623 0.08542113 0.09689056
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+v 0.01718947 0.07723274 0.11267364
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_47.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3590df972564d0f950110507665ce5eee4731c3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_47.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.02906993 0.03557497 0.12627519
+v 0.02906993 0.03773027 0.12600110
+v 0.02696241 0.03345453 0.12590083
+v 0.02906993 0.01446253 0.12520153
+v 0.02906993 0.04001552 0.12517752
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+v 0.02329515 0.03314075 0.12469019
+v 0.02774312 0.01281753 0.12451880
+v 0.02906993 0.01281753 0.12502260
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diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_48.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88c9bb78513d3282a2657e73215fe399b74c10dc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_48.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_49.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3099bf4288df06eb03cb15481a2114e62ef2d614
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_49.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_5.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a256a43f37fc9623fe976bf5c7cddcb6943e547d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_5.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_50.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..697483a15f47297d6c9dd2bca7af71b39febd2ac
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_50.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_51.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de54dbc8b6ff6503cca0b4c6fd545cb0c0be0d5a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_51.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_52.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68fa7c0d183cfe457f2c9f489455147bfe1e3f0b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_52.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+v 0.00684470 -0.01047895 0.08949146
+v 0.01330439 -0.01450565 0.10036209
+v 0.01868430 -0.01165142 0.10036210
+v 0.01327589 -0.00663672 0.08949148
+v 0.00833613 -0.00978516 0.08949146
+v 0.01555262 -0.01365377 0.10036209
+v 0.01865897 -0.01183585 0.10036210
+v 0.01092001 -0.00837121 0.08949147
+f 1 2 3
+f 1 3 4
+f 1 4 16
+f 1 16 25
+f 1 25 24
+f 1 24 34
+f 1 34 43
+f 1 43 45
+f 1 45 50
+f 1 50 61
+f 1 61 65
+f 1 65 66
+f 1 66 62
+f 1 62 51
+f 1 51 46
+f 1 46 39
+f 1 39 28
+f 1 28 17
+f 1 17 5
+f 1 5 22
+f 1 22 31
+f 1 31 26
+f 1 26 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 9
+f 3 9 4
+f 3 7 6
+f 3 6 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 8
+f 4 9 16
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 21
+f 5 21 22
+f 8 15 14
+f 8 14 27
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+f 8 19 18
+f 8 18 30
+f 8 30 29
+f 8 29 42
+f 8 42 41
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+f 8 48 55
+f 8 55 54
+f 8 54 53
+f 8 53 57
+f 8 57 63
+f 8 63 67
+f 8 67 64
+f 8 64 60
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+f 8 58 49
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+f 8 44 38
+f 8 38 37
+f 8 37 36
+f 8 36 35
+f 8 35 32
+f 8 32 23
+f 8 23 9
+f 9 23 24
+f 9 24 25
+f 9 25 16
+f 13 26 27
+f 13 27 14
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 21 27 22
+f 22 27 31
+f 23 32 24
+f 24 33 34
+f 24 32 35
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 33
+f 26 31 27
+f 28 39 40
+f 28 40 41
+f 28 41 42
+f 28 42 29
+f 33 38 34
+f 34 38 43
+f 38 44 45
+f 38 45 43
+f 39 46 47
+f 39 47 48
+f 39 48 40
+f 44 49 50
+f 44 50 45
+f 46 51 52
+f 46 52 47
+f 47 53 54
+f 47 54 55
+f 47 55 48
+f 47 52 51
+f 47 51 56
+f 47 56 57
+f 47 57 53
+f 49 58 59
+f 49 59 50
+f 50 59 58
+f 50 58 60
+f 50 60 61
+f 51 62 56
+f 56 62 63
+f 56 63 57
+f 60 64 65
+f 60 65 61
+f 62 66 63
+f 63 66 67
+f 64 67 65
+f 65 67 66
+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_53.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2493c01a891fad12e563a2829ff00127be21bf01
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_53.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.01023109 -0.00290817 0.10036213
+v 0.01014788 -0.00290817 0.10120495
+v 0.01650806 -0.00572028 0.10036212
+v -0.01366481 -0.00290817 0.10036213
+v 0.00970289 -0.00290818 0.10360119
+v 0.02207232 -0.00853535 0.10360117
+v 0.01755724 -0.00626945 0.10036212
+v -0.01366481 -0.01121200 0.10036210
+v -0.01366481 -0.00290817 0.10048072
+v -0.00307174 -0.00290818 0.10360119
+v 0.02265841 -0.00977503 0.10360116
+v 0.02151517 -0.00926561 0.10248311
+v 0.01816504 -0.00706008 0.10036211
+v -0.01366481 -0.01185981 0.10067126
+v -0.01318363 -0.01207624 0.10036210
+v -0.01365395 -0.00290817 0.10098965
+v -0.01366481 -0.00410517 0.10360118
+v 0.02329515 -0.01112808 0.10360116
+v 0.02329515 -0.01140341 0.10344040
+v 0.01832061 -0.00765048 0.10036211
+v -0.01366481 -0.01598670 0.10296506
+v -0.01053537 -0.01475732 0.10036209
+v -0.01293039 -0.01535213 0.10206167
+v -0.01366481 -0.01660802 0.10360114
+v 0.02329515 -0.01259303 0.10360115
+v 0.02329515 -0.01195552 0.10340678
+v 0.01868239 -0.01165369 0.10036210
+v -0.00987330 -0.01539335 0.10036208
+v -0.00999269 -0.01794782 0.10360113
+v 0.02206508 -0.01519902 0.10360114
+v 0.02128363 -0.01438925 0.10282301
+v 0.01866069 -0.01183773 0.10036210
+v -0.00588643 -0.01575849 0.10036208
+v 0.01462678 -0.01742221 0.10360114
+v -0.00260504 -0.01591455 0.10036208
+v -0.00178017 -0.01591455 0.10036208
+v 0.01793712 -0.01649023 0.10360114
+v 0.01054585 -0.01543458 0.10036208
+v 0.01330265 -0.01450702 0.10036209
+v 0.01555295 -0.01365456 0.10036209
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 20
+f 1 20 27
+f 1 27 32
+f 1 32 40
+f 1 40 39
+f 1 39 38
+f 1 38 36
+f 1 36 35
+f 1 35 33
+f 1 33 28
+f 1 28 22
+f 1 22 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 5 6
+f 4 8 14
+f 4 14 21
+f 4 21 24
+f 4 24 17
+f 4 17 9
+f 5 10 17
+f 5 17 24
+f 5 24 29
+f 5 29 34
+f 5 34 37
+f 5 37 30
+f 5 30 25
+f 5 25 18
+f 5 18 11
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 8 15 14
+f 9 17 16
+f 10 16 17
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 12 20 13
+f 14 15 21
+f 15 22 23
+f 15 23 21
+f 18 25 26
+f 18 26 19
+f 19 26 20
+f 20 26 27
+f 21 23 28
+f 21 28 24
+f 22 28 23
+f 24 28 29
+f 25 30 31
+f 25 31 26
+f 26 31 32
+f 26 32 27
+f 28 33 29
+f 29 33 35
+f 29 35 36
+f 29 36 34
+f 30 37 38
+f 30 38 39
+f 30 39 40
+f 30 40 31
+f 31 40 32
+f 34 38 37
+f 34 36 38
+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_54.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3a5bf5714738463de13c3616b91fcf82867add3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_54.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.01366193 -0.00290817 0.10036213
+v 0.01023059 -0.00290817 0.10036213
+v -0.01366193 -0.00290817 0.10048072
+v -0.01366193 0.02892861 0.10036225
+v 0.01023059 -0.00290817 0.10038115
+v 0.01378408 0.00842863 0.10036217
+v 0.01575377 0.01283099 0.10360125
+v 0.01457887 0.00916847 0.10360123
+v -0.01365329 -0.00290817 0.10098965
+v -0.01366193 -0.00290358 0.10098965
+v -0.01366193 0.04168538 0.10050403
+v -0.01361585 0.02894239 0.10036225
+v 0.01014708 -0.00290817 0.10120495
+v 0.01391079 0.01267016 0.10036219
+v 0.01367466 0.01536304 0.10360126
+v 0.00970361 -0.00290818 0.10360119
+v -0.00307055 -0.00290818 0.10360119
+v -0.01366193 0.00455931 0.10266866
+v -0.00593293 0.02746268 0.10036224
+v -0.00999325 0.02882751 0.10036225
+v -0.01366193 0.04403821 0.10059504
+v -0.01218754 0.04403821 0.10117468
+v -0.01091762 0.04403821 0.10206094
+v -0.01095217 0.04403820 0.10360136
+v -0.00513526 0.00032237 0.10360120
+v -0.01366193 0.01636483 0.10360126
+v -0.01366193 0.04403820 0.10360136
+f 1 2 5
+f 1 5 13
+f 1 13 16
+f 1 16 17
+f 1 17 9
+f 1 9 3
+f 1 3 10
+f 1 10 18
+f 1 18 26
+f 1 26 27
+f 1 27 21
+f 1 21 11
+f 1 11 4
+f 1 4 12
+f 1 12 20
+f 1 20 19
+f 1 19 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 10
+f 4 11 12
+f 5 8 13
+f 6 14 7
+f 7 14 15
+f 7 15 24
+f 7 24 27
+f 7 27 26
+f 7 26 25
+f 7 25 17
+f 7 17 16
+f 7 16 8
+f 8 16 13
+f 9 17 10
+f 10 17 18
+f 11 19 20
+f 11 20 12
+f 11 21 14
+f 11 14 19
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 17 25 18
+f 18 25 26
+f 21 27 24
+f 21 24 23
+f 21 23 22
+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_55.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4e61e120c94ccd38a30a3fbc46155bcc3d72df6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_55.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.01315567 0.02549795 0.12270852
+v -0.01260427 0.02932701 0.11898312
+v -0.01301985 0.02470062 0.12270852
+v -0.01297120 0.03769104 0.12270857
+v -0.01296106 0.03775092 0.12142479
+v -0.01279483 0.03345546 0.11871782
+v -0.01032368 0.02932702 0.11691449
+v -0.00819917 0.02703275 0.11538044
+v -0.00148915 0.01341834 0.11461851
+v -0.01276037 0.02318161 0.12270852
+v -0.01282727 0.04171233 0.12270858
+v -0.01282727 0.04171233 0.12258504
+v -0.01276239 0.04230166 0.12270859
+v -0.01231438 0.03648403 0.11927142
+v -0.00969322 0.03337353 0.11648922
+v -0.00827012 0.02932703 0.11535114
+v -0.00592466 0.02932703 0.11461857
+v -0.00522730 0.02587616 0.11461856
+v -0.00112628 0.01270611 0.11461851
+v -0.00871408 0.01713076 0.12270849
+v -0.01281308 0.04184470 0.12270858
+v -0.01207112 0.04403813 0.12270859
+v -0.01169609 0.03923528 0.11985036
+v -0.00812214 0.03194276 0.11542798
+v -0.01019394 0.03775093 0.11848183
+v -0.00588817 0.03488310 0.11560142
+v -0.00592060 0.02936485 0.11461857
+v 0.00261187 0.01184260 0.11461850
+v -0.00406166 0.01461272 0.12270848
+v 0.00755418 0.04403813 0.12270859
+v -0.01144066 0.04403813 0.12225084
+v -0.01008041 0.04403813 0.12171150
+v -0.00486646 0.03194907 0.11461858
+v -0.00178309 0.03518878 0.11573052
+v -0.00156213 0.03293863 0.11461858
+v -0.00177498 0.03288191 0.11461858
+v -0.00588817 0.04403814 0.12100190
+v -0.00178309 0.04403814 0.12071362
+v 0.00315314 0.01212623 0.11461850
+v 0.00755418 0.01398243 0.12270848
+v 0.00733930 0.01398243 0.12270848
+v -0.00187837 0.01417152 0.12270848
+v 0.00755418 0.04403813 0.12132027
+v 0.00232401 0.03258882 0.11461858
+v 0.00232401 0.04403814 0.12072154
+v 0.00470597 0.01387846 0.11461851
+v 0.00755418 0.01408012 0.12197988
+v 0.00755418 0.03052145 0.11461857
+v 0.00631354 0.03110762 0.11461857
+v 0.00649193 0.04403813 0.12116029
+v 0.00406132 0.04403814 0.12087043
+v 0.00755418 0.02490235 0.11461855
+f 1 2 3
+f 1 3 10
+f 1 10 20
+f 1 20 29
+f 1 29 42
+f 1 42 41
+f 1 41 40
+f 1 40 30
+f 1 30 22
+f 1 22 13
+f 1 13 21
+f 1 21 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 6 7
+f 4 11 12
+f 4 12 5
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 19 10
+f 9 18 17
+f 9 17 27
+f 9 27 33
+f 9 33 36
+f 9 36 35
+f 9 35 44
+f 9 44 49
+f 9 49 48
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+f 9 46 39
+f 9 39 28
+f 9 28 19
+f 10 19 20
+f 11 21 12
+f 12 21 13
+f 13 22 23
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+f 14 23 15
+f 15 24 16
+f 15 23 25
+f 15 25 26
+f 15 26 24
+f 16 27 17
+f 16 24 27
+f 19 28 29
+f 19 29 20
+f 22 30 43
+f 22 43 50
+f 22 50 51
+f 22 51 45
+f 22 45 38
+f 22 38 37
+f 22 37 32
+f 22 32 31
+f 22 31 23
+f 23 31 32
+f 23 32 25
+f 24 26 33
+f 24 33 27
+f 25 32 26
+f 26 34 35
+f 26 35 36
+f 26 36 33
+f 26 32 37
+f 26 37 38
+f 26 38 34
+f 28 39 40
+f 28 40 41
+f 28 41 42
+f 28 42 29
+f 30 40 47
+f 30 47 52
+f 30 52 48
+f 30 48 43
+f 34 44 35
+f 34 38 45
+f 34 45 44
+f 39 46 47
+f 39 47 40
+f 43 48 49
+f 43 49 44
+f 43 44 50
+f 44 45 51
+f 44 51 50
+f 46 52 47
+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_56.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea606e0933f7c8419b4c585a394573e1017fa956
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_56.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.01466139 0.01721002 0.10875085
+v 0.01847755 0.01673127 0.10875085
+v 0.01367688 0.01536034 0.10360158
+v 0.01206215 0.01522890 0.10360158
+v 0.01184801 0.01547087 0.10516577
+v 0.01204474 0.01548392 0.10875085
+v 0.01819639 0.01280642 0.10875084
+v 0.01730154 0.01281426 0.10597784
+v 0.01731633 0.01559447 0.10637860
+v 0.01575296 0.01282820 0.10360157
+v 0.01140407 0.01479193 0.10360157
+v 0.00958478 0.01313025 0.10360157
+v 0.01179840 0.01512965 0.10875085
+v 0.01762100 0.01160955 0.10875083
+v 0.01688371 0.01056938 0.10641437
+v 0.01596362 0.01281427 0.10390906
+v 0.01457956 0.00916622 0.10360155
+v 0.00958478 0.00831841 0.10360155
+v 0.00958478 0.01305800 0.10389747
+v 0.01151723 0.01302403 0.10875084
+v 0.00958478 0.01276552 0.10509115
+v 0.01688371 0.01056937 0.10801587
+v 0.01464311 0.01043271 0.10875083
+v 0.01286734 0.00852906 0.10360155
+v 0.01464311 0.01019856 0.10842720
+v 0.01193158 0.01019507 0.10804309
+v 0.00958478 0.00923411 0.10504274
+v 0.01160428 0.01252701 0.10875084
+v 0.01271414 0.01062769 0.10875083
+v 0.01185237 0.01172271 0.10875083
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 20
+f 1 20 28
+f 1 28 30
+f 1 30 29
+f 1 29 23
+f 1 23 14
+f 1 14 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 17
+f 3 17 24
+f 3 24 18
+f 3 18 12
+f 3 12 11
+f 3 11 4
+f 4 11 5
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 9
+f 9 16 10
+f 10 16 17
+f 12 18 27
+f 12 27 21
+f 12 21 19
+f 12 19 13
+f 13 19 21
+f 13 21 20
+f 14 22 15
+f 14 23 22
+f 15 22 17
+f 15 17 16
+f 17 22 24
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 20 21 27
+f 20 27 28
+f 22 23 25
+f 22 25 24
+f 23 29 25
+f 25 29 26
+f 26 30 27
+f 26 29 30
+f 27 30 28
+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_57.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d693bcd8745246fc38a5ebfa4973594e23a2ae3d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_57.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00678934 0.00462921 0.11461769
+v -0.00604095 0.00455837 0.10930372
+v -0.00592917 0.00402232 0.10875187
+v -0.00554885 0.00146839 0.10875187
+v -0.00567971 0.00146839 0.11014899
+v -0.00619908 0.00207219 0.11461768
+v -0.00592508 0.02932753 0.11461778
+v -0.00595780 0.00455837 0.10875188
+v -0.00593599 0.00414555 0.10875188
+v 0.00670478 0.00146839 0.10875187
+v -0.00600415 0.00146837 0.11461768
+v -0.00591963 0.02936450 0.11461778
+v -0.00107080 0.02453699 0.10875195
+v 0.00659572 0.00146839 0.10930371
+v 0.00460684 0.02433058 0.10875195
+v 0.00713690 0.02911188 0.11375528
+v 0.00713690 0.02857891 0.11369498
+v 0.00713690 0.02798741 0.11362836
+v 0.00713690 0.02517469 0.11372655
+v 0.00713690 0.02516853 0.11374320
+v 0.00713690 0.02486045 0.11461776
+v 0.00190638 0.00146837 0.11461768
+v -0.00486589 0.03194924 0.11461779
+v -0.00093585 0.02504532 0.10875195
+v 0.00642941 0.00146839 0.10960806
+v 0.00250073 0.02556596 0.10875195
+v 0.00713690 0.03072003 0.11461778
+v 0.00470772 0.01388068 0.11461772
+v -0.00177284 0.03288271 0.11461779
+v 0.00232352 0.02563682 0.10875195
+v -0.00156018 0.03294124 0.11461779
+v 0.00631354 0.03110820 0.11461778
+v 0.00232352 0.03259004 0.11461779
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 22
+f 1 22 28
+f 1 28 21
+f 1 21 27
+f 1 27 32
+f 1 32 33
+f 1 33 31
+f 1 31 29
+f 1 29 23
+f 1 23 12
+f 1 12 7
+f 1 7 2
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+f 3 24 30
+f 3 30 26
+f 3 26 15
+f 3 15 10
+f 3 10 4
+f 4 10 14
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+f 4 22 11
+f 4 11 5
+f 5 11 6
+f 7 12 8
+f 8 12 13
+f 10 15 16
+f 10 16 17
+f 10 17 18
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+f 10 19 20
+f 10 20 21
+f 10 21 14
+f 12 23 24
+f 12 24 13
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+f 16 27 21
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+f 16 18 17
+f 21 28 25
+f 22 25 28
+f 23 29 24
+f 24 29 31
+f 24 31 30
+f 26 30 32
+f 26 32 27
+f 30 31 33
+f 30 33 32
+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_58.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfdc340dadd979d65d387d3f0870b7beddaa8d07
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_58.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00597736 0.01569047 0.10514359
+v 0.00595910 0.01569048 0.10360158
+v 0.00495189 0.01569046 0.10875085
+v 0.00958478 0.01313034 0.10360157
+v -0.00181715 0.01569048 0.10360158
+v 0.00670463 0.00146838 0.10875080
+v 0.00958478 0.01276559 0.10509115
+v 0.00958478 0.01305795 0.10389747
+v -0.00170304 0.01569046 0.10875085
+v 0.00958478 0.00831772 0.10360155
+v -0.00515831 0.00468424 0.10360154
+v -0.00595861 0.00455893 0.10875081
+v -0.00183693 0.01569048 0.10391008
+v 0.00783813 0.00146839 0.10537592
+v 0.00958478 0.00923234 0.10504274
+v -0.00554933 0.00146838 0.10875080
+v -0.00180650 0.01569047 0.10516577
+v 0.00784117 0.00146840 0.10360153
+v -0.00526330 0.00268096 0.10360153
+v -0.00542153 0.00455894 0.10516573
+v -0.00519787 0.00146840 0.10360153
+v -0.00593579 0.00414546 0.10875081
+v -0.00181868 0.01569048 0.10469142
+v -0.00592818 0.00402017 0.10875080
+v -0.00539871 0.00146839 0.10613407
+f 1 2 5
+f 1 5 13
+f 1 13 23
+f 1 23 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 2
+f 2 4 10
+f 2 10 18
+f 2 18 21
+f 2 21 19
+f 2 19 11
+f 2 11 5
+f 3 6 7
+f 3 7 8
+f 3 8 4
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+f 3 22 24
+f 3 24 16
+f 3 16 6
+f 4 8 7
+f 4 7 15
+f 4 15 10
+f 5 11 12
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+f 6 14 15
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+f 12 21 22
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+f 16 24 25
+f 21 25 24
+f 21 24 22
+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_59.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a64b9bf5af7d521662901f2573daf70577d53a84
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_59.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.01366481 -0.00892233 0.12995158
+v -0.00982247 -0.00698017 0.12959531
+v -0.01366481 -0.00861237 0.13309107
+v -0.01366481 -0.00740222 0.12680486
+v -0.00241422 -0.00264922 0.11461947
+v -0.00793379 -0.00577179 0.12794963
+v -0.01061208 -0.00691364 0.13309107
+v -0.01366481 0.00780229 0.13309113
+v -0.01366481 -0.00368076 0.12523694
+v -0.00586120 0.00102144 0.11461948
+v -0.00241422 0.00800026 0.11461951
+v -0.00241422 -0.00172806 0.11757992
+v -0.00254307 0.00531899 0.13309112
+v -0.00865512 -0.00452140 0.13309108
+v -0.01008457 -0.00633922 0.13309108
+v -0.01257125 0.00896864 0.13309113
+v -0.01366481 0.00760790 0.13255763
+v -0.01366481 0.00042772 0.12469442
+v -0.00678957 0.00462731 0.11461950
+v -0.00620039 0.00207045 0.11461949
+v -0.00300450 0.00800026 0.11461951
+v -0.00594379 0.00896867 0.12478306
+v -0.00545924 0.00896867 0.12486987
+v -0.00241422 0.00896867 0.12604898
+v -0.00241422 0.00556592 0.13309112
+v -0.00241422 0.00896864 0.13309113
+v -0.01182899 0.00896865 0.13108193
+v -0.01366481 0.00666573 0.12999322
+v -0.01366481 0.00454671 0.12641971
+v -0.00484032 0.00724721 0.11461951
+v -0.01366481 0.00471482 0.12660417
+v -0.00957909 0.00896867 0.12627504
+v -0.01142482 0.00896865 0.12999323
+f 1 2 3
+f 1 3 8
+f 1 8 17
+f 1 17 28
+f 1 28 31
+f 1 31 29
+f 1 29 18
+f 1 18 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
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+f 3 15 14
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+f 3 26 16
+f 3 16 8
+f 4 9 10
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+f 5 30 21
+f 5 21 11
+f 5 11 24
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+f 5 25 12
+f 5 12 6
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+f 6 12 13
+f 8 16 17
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+f 9 20 10
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+f 11 22 23
+f 11 23 24
+f 12 25 13
+f 16 26 24
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+f 16 23 22
+f 16 22 32
+f 16 32 33
+f 16 33 27
+f 16 27 28
+f 16 28 17
+f 18 29 19
+f 19 29 31
+f 19 31 30
+f 21 30 32
+f 21 32 22
+f 27 33 28
+f 28 33 32
+f 28 32 31
+f 30 31 32
+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_6.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c184ea6d7d7a680c3d0a5013f71d9119db19758
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_6.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.04182241 -0.06562493 0.13895967
+v -0.04125829 -0.06832078 0.13928666
+v -0.04182241 -0.06562494 0.14167498
+v -0.04164407 -0.06149574 0.13957092
+v -0.02286064 -0.03262061 0.13309279
+v -0.03873975 -0.06562493 0.13773345
+v -0.03873975 -0.06897494 0.13874461
+v -0.04125829 -0.06832079 0.14095433
+v -0.03869972 -0.06539162 0.14357782
+v -0.03990075 -0.06149576 0.14379163
+v -0.04164407 -0.06149575 0.14172278
+v -0.04102172 -0.05885823 0.14010292
+v -0.02853825 -0.03874564 0.13616776
+v -0.02073882 -0.02783726 0.13309281
+v -0.02223829 -0.03659562 0.13309278
+v -0.00547114 -0.04852068 0.13309273
+v -0.00464133 -0.04873318 0.13309273
+v -0.01860243 -0.03950814 0.13309276
+v -0.03463077 -0.06923328 0.13899614
+v -0.03873975 -0.06897495 0.14144355
+v -0.03730579 -0.06386244 0.14459906
+v -0.03784808 -0.06149576 0.14487826
+v -0.03463077 -0.06677495 0.14402303
+v -0.03766247 -0.05737075 0.14494242
+v -0.03705831 -0.05405824 0.14468336
+v -0.04102172 -0.05885824 0.14101849
+v -0.03669436 -0.05114155 0.14032932
+v -0.02885125 -0.03844982 0.13827057
+v -0.02040762 -0.03041228 0.13627092
+v -0.01824940 -0.02680809 0.13309281
+v -0.02891312 -0.03838733 0.14073685
+v -0.01145083 -0.05586240 0.14104869
+v -0.01145083 -0.05586239 0.13988158
+v -0.01994541 -0.06386242 0.14009410
+v -0.02785767 -0.06788744 0.14018715
+v -0.03052542 -0.06856661 0.13968660
+v -0.00464133 -0.03514562 0.13309278
+v -0.00464133 -0.04796236 0.13777627
+v -0.03463077 -0.06923329 0.14195417
+v -0.03463077 -0.06470828 0.14483675
+v -0.03463077 -0.06149576 0.14548194
+v -0.03463077 -0.05737076 0.14571463
+v -0.03052542 -0.06725829 0.14373377
+v -0.03052542 -0.06519578 0.14517506
+v -0.03501655 -0.05290823 0.14529459
+v -0.03380460 -0.04911238 0.14502169
+v -0.03288745 -0.04679987 0.14463056
+v -0.03664341 -0.05130823 0.14350619
+v -0.03669436 -0.05114155 0.14074813
+v -0.01982166 -0.03041228 0.13627092
+v -0.01598200 -0.02666642 0.13309281
+v -0.02642007 -0.03782899 0.14112925
+v -0.02231472 -0.03767066 0.14108774
+v -0.03563527 -0.04950404 0.14223973
+v -0.00709799 -0.04842070 0.14096572
+v -0.01609846 -0.05947909 0.14451103
+v -0.02028752 -0.06352077 0.14445191
+v -0.01994541 -0.06386243 0.14169260
+v -0.02785767 -0.06788745 0.14081095
+v -0.03052542 -0.06856662 0.14166491
+v -0.01360905 -0.02794559 0.13309281
+v -0.00464133 -0.03849981 0.13645073
+v -0.00464133 -0.04471235 0.13895096
+v -0.03052542 -0.06149577 0.14584792
+v -0.03052542 -0.05324158 0.14585927
+v -0.02302442 -0.06412078 0.14477135
+v -0.02642007 -0.06468745 0.14512853
+v -0.02642007 -0.06149577 0.14594099
+v -0.03052542 -0.04911238 0.14545558
+v -0.03052542 -0.04645821 0.14475507
+v -0.02642007 -0.04085817 0.14262712
+v -0.01708113 -0.03083311 0.13605837
+v -0.01433331 -0.02745809 0.13309281
+v -0.02231472 -0.04085817 0.14239068
+v -0.00959469 -0.04457902 0.14143233
+v -0.01069745 -0.04240818 0.14069911
+v -0.00796055 -0.04293318 0.14033187
+v -0.01954506 -0.03817899 0.14068026
+v -0.01311772 -0.05324157 0.14382437
+v -0.00709799 -0.04568319 0.14096573
+v -0.01820937 -0.05737075 0.14514993
+v -0.02192165 -0.06188743 0.14513105
+v -0.01572359 -0.05737075 0.14465567
+v -0.00464133 -0.03963732 0.13720784
+v -0.00464133 -0.04311650 0.13861390
+v -0.01820937 -0.05324157 0.14515875
+v -0.02231472 -0.05737075 0.14558006
+v -0.01536328 -0.05064156 0.14464311
+v -0.02765750 -0.04651237 0.14469344
+v -0.00464133 -0.04085816 0.13777756
+v -0.01517039 -0.05324157 0.14475504
+f 1 2 8
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+f 43 60 57
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+f 43 67 44
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+f 45 69 46
+f 46 69 47
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+f 47 69 70
+f 48 54 49
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+f 53 75 76
+f 53 76 77
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+f 55 79 56
+f 55 63 80
+f 55 80 79
+f 56 81 68
+f 56 68 82
+f 56 82 57
+f 56 79 83
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+f 57 82 66
+f 57 60 59
+f 57 59 58
+f 61 73 62
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+f 63 85 80
+f 64 68 65
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+f 65 87 86
+f 66 82 68
+f 66 68 67
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+f 80 85 90
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+f 86 91 88
+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_60.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2749a86112dfc18a45a84bc84a3b4f91cadffe7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_60.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.00713848 0.02486244 0.11461776
+v 0.00713848 0.03072122 0.11461778
+v 0.00713848 0.02516829 0.11374320
+v 0.01185342 0.01172292 0.10875190
+v 0.01271542 0.01062862 0.10875190
+v 0.01629156 0.01346266 0.11461772
+v 0.01472887 0.02994866 0.11461778
+v 0.00713848 0.02911055 0.11375528
+v 0.00713848 0.02517425 0.11372655
+v 0.01160510 0.01252726 0.10875191
+v 0.01464347 0.01043399 0.10875190
+v 0.01990249 0.01099999 0.11461771
+v 0.01693846 0.02943030 0.11461778
+v 0.01847741 0.01673168 0.10875192
+v 0.00713848 0.02857830 0.11369498
+v 0.01466245 0.01721031 0.10875192
+v 0.01204480 0.01548644 0.10875192
+v 0.01179806 0.01513094 0.10875192
+v 0.00713848 0.02798646 0.11362836
+v 0.01151810 0.01302576 0.10875191
+v 0.02233666 0.01134755 0.11461771
+v 0.02095271 0.01099999 0.11461771
+v 0.01762173 0.01160972 0.10875190
+v 0.01859287 0.02903111 0.11461778
+v 0.02329515 0.01694416 0.11331192
+v 0.02093531 0.01471188 0.11117633
+v 0.01819588 0.01280729 0.10875191
+v 0.02219115 0.02520007 0.11461776
+v 0.02220855 0.02517624 0.11461776
+v 0.02329515 0.02316837 0.11461776
+v 0.02329515 0.02145641 0.11403490
+v 0.02329515 0.02087649 0.11390225
+v 0.02329515 0.01208237 0.11461771
+v 0.02329515 0.01240411 0.11424677
+v 0.02329515 0.01652908 0.11334810
+v 0.02329515 0.01281323 0.11408828
+f 1 2 8
+f 1 8 15
+f 1 15 19
+f 1 19 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 22
+f 1 22 21
+f 1 21 33
+f 1 33 30
+f 1 30 29
+f 1 29 28
+f 1 28 24
+f 1 24 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 3 9 4
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+f 15 18 19
+f 18 20 19
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+f 25 30 33
+f 25 33 34
+f 25 34 36
+f 25 36 35
+f 26 35 36
+f 26 36 27
+f 27 36 34
+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_61.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2de203f6848c1b3649028993bcdbc876ad0f3a67
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_61.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.00519824 0.00146840 0.10360260
+v -0.00513449 0.00032010 0.10360259
+v -0.00539812 0.00146839 0.10613451
+v 0.00784046 0.00146840 0.10360260
+v -0.00600465 0.00146836 0.11461660
+v -0.00246196 -0.00797691 0.10360256
+v 0.00783702 0.00146839 0.10537645
+v 0.01050438 -0.00026888 0.11461659
+v 0.00942572 0.00022580 0.10360259
+v -0.00585991 0.00102180 0.11461659
+v 0.00190783 0.00146836 0.11461660
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_62.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef659904a345a20d9580dd4e123466ff15cf372f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_62.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.01366481 -0.00410427 0.10360150
+v -0.01366481 -0.00443596 0.10432385
+v -0.01305724 -0.00429911 0.10360150
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+v -0.01158874 -0.00546629 0.10360150
+v -0.01024108 -0.00797691 0.10438254
+v -0.01275095 -0.00782794 0.10652137
+v -0.01107368 -0.00797692 0.10513095
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+f 9 11 14
+f 9 14 10
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+f 10 13 12
+f 11 15 14
+f 13 14 15
+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_63.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb171848c389fde091db0a2f23679d368a685220
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_63.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+v -0.01366481 0.02010809 0.12496817
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_7.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b38c52dbe350864be8e55363828f8cfe8b75ff49
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_7.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+v -0.07755629 -0.00591361 0.08144069
+v -0.07854402 -0.00591361 0.08266011
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+v -0.07716646 0.00698345 0.08861177
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+
diff --git a/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_8.obj b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c461ccd6e5b74ff9f0e59400bf9cb241542d91f2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mjcf/mesh/houseplant_019_collision_8.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+v -0.03594658 -0.05150150 0.09688604
+v -0.03699790 -0.05135622 0.09943640
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