diff --git a/.gitattributes b/.gitattributes
index bda7b7a03fa7804c32126f1a05de776c3ec2c447..bc3b54a44005d2c3ee1de1ba9a6fb78d576ff08f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4987,5 +4987,5 @@ dataset/livingroom_supplies/ornaments/aa70004706f6572b98b705705eddbec3/aa7000470
 dataset/livingroom_supplies/ornaments/b370ca6a6b1658bd959d46c7d90df1e8/b370ca6a6b1658bd959d46c7d90df1e8.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/diffuser_bottle_002.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mesh/diffuser_bottle_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/b0a4bda520fe510c89407a9c4a21fadb/candle_holder_037.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/b0a4bda520fe510c89407a9c4a21fadb/mesh/candle_holder_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/houseplant_013.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mesh/houseplant_013.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/houseplant_013.urdf b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/houseplant_013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1c3c4c30091c498e8da7d1353b0b324030351ef4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/houseplant_013.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="houseplant_013">
+   <link name="houseplant_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/houseplant_013.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_013_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.3000" />
+         <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>b4b2aa737edf530eaa5f24d709d47d2e</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>houseplant</category>
+         <name>potted orchid</name>
+         <color>pink,green</color>
+         <shape>irregular</shape>
+         <material>ceramic</material>
+         <description>pink orchid flowers with green leaves in a round ceramic pot</description>
+         <min_height>0.2500</min_height>
+         <max_height>0.2500</max_height>
+         <real_height>0.2500</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518195717</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.049718 -0.064409 -0.054980</min>
+            <max>0.046188 0.079104 0.195020</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/houseplant_013.usd b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/houseplant_013.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0c802b2bea5eca22767d6180ab88855be0949706
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/houseplant_013.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:401ef966fe1b3369230d75afa2d2ea093590cf5b7227efb165f846d0f9bfa604
+size 5032265
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mesh/houseplant_013.glb b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mesh/houseplant_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3a501afdbd4c7c4858992fad8a54dab287a4d2e7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mesh/houseplant_013.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c555f373c9bd669a82c75133b84a70f2bd39003b8b6150ef94e66ecbd52b77c
+size 16121732
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mesh/houseplant_013.mtl b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mesh/houseplant_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71ecee9ecc71fc481b6bd14a4c48b4160055cd68
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mesh/houseplant_013.mtl
@@ -0,0 +1,6 @@
+newmtl houseplant_013_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/b4b2aa737edf530eaa5f24d709d47d2e/mesh/houseplant_013.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mesh/houseplant_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0595a0689e65ac12bd1547ea4de47ce9a2be232
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mesh/houseplant_013.obj
@@ -0,0 +1,119918 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl houseplant_013_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mesh/houseplant_013_collision.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mesh/houseplant_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7294b930c1bcff1de358f94aa4644f750b3e1d2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mesh/houseplant_013_collision.obj
@@ -0,0 +1,12708 @@
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index 0000000000000000000000000000000000000000..a4502fc93acfdc33f9003c3a18da176b6539237b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl houseplant_013_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_013_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..168345bfd75ff95c856e3bf20c1d1f9a29422aad
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:547b4ceec6d65b6bd26e293d3be9199af5f7cbb64a08d34ede19488ceb681a03
+size 12584779
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/houseplant_013.xml b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/houseplant_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7a85361ba97b36b87c3e3d716211afb931660f5e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/houseplant_013.xml
@@ -0,0 +1,112 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="houseplant_013">
+  <asset>
+    <material name="material_0" texture="texture_0_houseplant_013_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_houseplant_013_geometry_Looks_material_0" type="2d" file="mesh/houseplant_013_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/houseplant_013.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/houseplant_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/houseplant_013_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/houseplant_013_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/houseplant_013_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/houseplant_013_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/houseplant_013_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/houseplant_013_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/houseplant_013_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/houseplant_013_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/houseplant_013_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/houseplant_013_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/houseplant_013_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/houseplant_013_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/houseplant_013_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/houseplant_013_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/houseplant_013_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/houseplant_013_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/houseplant_013_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/houseplant_013_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/houseplant_013_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/houseplant_013_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/houseplant_013_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/houseplant_013_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/houseplant_013_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/houseplant_013_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/houseplant_013_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/houseplant_013_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/houseplant_013_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/houseplant_013_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/houseplant_013_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/houseplant_013_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/houseplant_013_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/houseplant_013_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/houseplant_013_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/houseplant_013_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/houseplant_013_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/houseplant_013_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/houseplant_013_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/houseplant_013_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/houseplant_013_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/houseplant_013_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/houseplant_013_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/houseplant_013_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/houseplant_013_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/houseplant_013_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/houseplant_013_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/houseplant_013_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/houseplant_013_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/houseplant_013_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="houseplant_013">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" 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/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..139a926bca0f263641dbceedae92223250c6de1e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013.obj
@@ -0,0 +1,119918 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl houseplant_013_geometry_Looks_material_0
+v 0.033168 0.064293 0.152802
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diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b76b0290cdaa3a68666ead603f8272d55a5c090b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision.obj
@@ -0,0 +1,12708 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_0.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e51d1809176f2bee888caa62fa3e8e583ae2ecb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_1.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b94edf94d13ca6b93eccc7ea5612602e51629cf7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_10.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a45dfbea66149aefa8fee0f018ea4cc04369caec
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_10.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_11.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7b7eff5045956c302b16cdb8c513705daac5960
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_11.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.02553071 0.04731038 0.17349441
+v 0.02535976 0.04731038 0.17349441
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diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_12.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..140017931cb2739cbff58e42284f0c7f94c85bcb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_12.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_13.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dbd20fa3921ff2be7b33bd2c41ffa7c30338f2e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_13.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_14.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3788e37c67cbba3f6fe838691ce3481aae92d8d2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_14.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_15.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dab97db4fc9ffaef4bdbf8ddb2c55bad8cfad66c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_15.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_16.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e13cb29c4a9a54116d13df520eb9781fb573e70d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_16.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_17.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6fc95bec4e47d98773aef73c53f2ddc520f7a83
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_17.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_18.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a9aeac9c896518548bb10dc8920daf823c363c4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_18.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.01998642 -0.00308705 0.05552627
+v -0.01984198 -0.00738929 0.05552625
+v -0.02138165 -0.00717993 0.05851998
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+v -0.01859580 -0.01011874 0.05602262
+v -0.02166439 -0.01093682 0.06165751
+v -0.01790587 -0.01064989 0.05552624
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+v -0.02279993 -0.00822032 0.06744705
+v -0.01851436 0.00226587 0.05833291
+v -0.01336830 0.00226587 0.05652059
+v -0.00793643 -0.00494675 0.05677571
+v -0.00793643 -0.00445823 0.05552626
+v -0.01769536 -0.01093679 0.05552624
+v -0.02239120 -0.00893888 0.06992739
+v -0.02010167 -0.01093685 0.07132374
+v -0.01736652 0.00226586 0.05879372
+v -0.01387998 0.00226587 0.05719480
+v -0.00793643 -0.00720320 0.05832669
+v -0.00793643 -0.01093679 0.05552624
+v -0.02130943 -0.00893888 0.06992739
+v -0.01966220 -0.01093685 0.07106395
+v -0.01606963 0.00226586 0.05874424
+v -0.01452228 0.00226587 0.05768035
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+v -0.01619871 -0.01093684 0.06783053
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+v -0.01588524 -0.01093684 0.06751044
+v -0.00793643 -0.00774857 0.05837153
+v -0.00884609 -0.01093681 0.05872254
+v -0.01554719 -0.01093684 0.06710375
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+f 36 38 39
+f 37 40 38
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+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_19.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c73d38e0157fbdcbd97e7c1692904f486603ff9e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_19.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.02905194 0.02420374 0.17486815
+v 0.02891036 0.02420373 0.17681872
+v 0.02742552 0.01764820 0.18229440
+v 0.02752189 0.01764821 0.17894841
+v 0.02752189 0.01764821 0.17867336
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+v 0.02727322 0.02103666 0.18183769
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+v 0.01730291 0.01764829 0.15752502
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+v 0.02691629 0.02420378 0.16398235
+v 0.02836068 0.02420375 0.17087619
+v 0.02613818 0.02420372 0.17963732
+v 0.02466167 0.02310183 0.18052049
+v 0.02466167 0.02103409 0.18189320
+v 0.02466167 0.01764820 0.18329870
+v 0.01725770 0.01788766 0.15752503
+v 0.01732433 0.01764827 0.16272063
+v 0.02120299 0.02420380 0.15752505
+v 0.02481991 0.02420372 0.17954648
+v 0.02234280 0.02420373 0.17757321
+v 0.02237849 0.02014013 0.18148945
+v 0.02180740 0.01764820 0.18220356
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+v 0.01734336 0.01764826 0.16676306
+v 0.01781689 0.02420380 0.15752505
+v 0.02232971 0.02420373 0.17754292
+v 0.01894718 0.01881557 0.17581187
+v 0.01868781 0.01764822 0.17652093
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+v 0.01982047 0.01764821 0.17897617
+v 0.01989067 0.01764821 0.17910234
+v 0.01689839 0.02136276 0.15752504
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+v 0.01706258 0.02209820 0.15752504
+v 0.01854147 0.01976473 0.17305383
+v 0.02158967 0.02420374 0.17494385
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+v 0.01815598 0.01764823 0.17477981
+v 0.01755395 0.01764824 0.17088373
+v 0.01809411 0.01764823 0.17456532
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+f 38 40 39
+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_2.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d7efbd43fe8fec9c21d5a29addd4d22751c5130
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_2.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.01773072 0.05466313 0.15190162
+v 0.01775232 0.05466313 0.15168672
+v 0.03371694 0.05466313 0.15190162
+v 0.01816062 0.05560251 0.15190162
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+v 0.03553592 0.05612113 0.15190163
+v 0.02434556 0.06744020 0.15190167
+v 0.02171647 0.07441709 0.14887871
+v 0.01900962 0.07232061 0.14708989
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+v 0.01846306 0.07364652 0.14363301
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+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_20.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8ad467370d4b96ec7284bdeeea2f7c4cea8026d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_20.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.03181635 0.02565401 0.13388284
+v 0.03165806 0.02936969 0.13365003
+v 0.03136563 0.02905641 0.13627220
+v 0.03136563 0.02686923 0.13627219
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+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_21.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b35246f91d37a166e5c8ab1006d72dc0dcbfd4d7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_21.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.02731164 -0.02301194 0.16672999
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+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_22.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ffb3797e7b7001a02c33bb0f136d04d5f14a71d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_22.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.00793642 -0.01093679 0.05552624
+v -0.00727277 -0.01093679 0.05552624
+v -0.00793642 -0.01093680 0.05673463
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+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_23.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e97bbc14e9599eb735264cd7a5cc33738664d11
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_23.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.01862480 0.05692830 0.03232341
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+v 0.01849881 0.05692830 0.03232341
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+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_24.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..752904587f8ae3842a2ea537abd8b221680069be
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_24.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 0.02820202 -0.02314645 0.03337340
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diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_25.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc5af63194b279bdb1e6835e0ff951073cadb1c9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_25.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00460346 0.01937420 0.02720494
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+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_26.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fedeb0d143efea0ae5a0ff8f03a134bf502ad16
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_26.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_27.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..928608b678d854aec2bd43f327fbe6d6a101352e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_27.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.00019477 0.01408541 0.04642184
+v 0.01670017 0.01477376 0.04642184
+v -0.00019477 0.01442218 0.04680190
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diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_28.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ae12f64fbe7ff32481b2c35dfbfef21c9a503cf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_28.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_29.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24c7b3d38f36223898c99ee8ae601b1970082e66
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_29.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_3.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34f9b7f6cf892e516b562d82c0222e48315020cb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_3.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_30.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..217acd525b93b2787a0caa3e94109f5c44046515
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_30.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.01383696 0.00226600 0.02160379
+v 0.02717931 -0.02109923 0.03288849
+v 0.02717931 -0.02109923 0.03161124
+v 0.02820384 -0.02314644 0.03118384
+v 0.01426932 0.00108692 0.02159884
+v 0.01390275 0.00196998 0.02159885
+v 0.01305211 0.00226600 0.02159885
+v 0.01117224 0.00226595 0.03652798
+v 0.02820384 -0.02314645 0.03337340
+v 0.01083857 0.00226594 0.03810112
+v 0.02783726 -0.02314644 0.03091919
+v 0.01455131 -0.00304733 0.02159883
+v -0.01837456 0.00226600 0.02159885
+v 0.01693873 -0.01129597 0.03839202
+v 0.01753559 -0.01549737 0.03839200
+v 0.02464619 -0.02314646 0.03512242
+v 0.00884591 0.00226594 0.03837728
+v 0.01685884 -0.01115169 0.03839202
+v 0.02430781 -0.02314644 0.02897127
+v 0.01362077 -0.01095015 0.02159880
+v 0.01365367 -0.01078846 0.02159880
+v 0.01451371 -0.00520897 0.02159882
+v -0.01930979 0.00108692 0.02159884
+v -0.01377359 0.00226594 0.03839207
+v 0.01726301 -0.01672620 0.03839200
+v 0.01431162 -0.02150720 0.03839198
+v 0.01307091 -0.02314647 0.03839197
+v 0.01512467 -0.00875622 0.03839203
+v 0.00096927 0.00226594 0.03839207
+v 0.00365278 0.00020876 0.03839206
+v 0.01172211 -0.01532816 0.02159878
+v 0.01201818 -0.01467892 0.02159879
+v 0.01189129 -0.02314643 0.02599760
+v 0.00348359 -0.01982558 0.02159877
+v 0.00434363 -0.01950221 0.02159877
+v -0.01980796 -0.00304733 0.02159883
+v -0.01474642 0.00056199 0.03839206
+v -0.01465242 0.00072865 0.03839206
+v -0.00361291 -0.02314647 0.03839197
+v 0.00792477 -0.02314642 0.02507871
+v 0.00031131 -0.01991762 0.02159877
+v -0.01927690 -0.00620646 0.02159882
+v -0.01474642 -0.00322897 0.03839205
+v -0.00671469 -0.01919879 0.03839199
+v -0.01831816 -0.00969893 0.02159880
+v -0.00365990 -0.02314646 0.03495475
+v 0.00785428 -0.02314642 0.02507871
+v -0.00027614 -0.01992757 0.02159877
+v -0.01289945 -0.00706223 0.03839203
+v -0.00863215 -0.01545509 0.03839200
+v -0.01586024 -0.01127103 0.02159880
+v -0.00271997 -0.02314644 0.02970934
+v -0.00308654 -0.02314644 0.03027152
+v -0.00361761 -0.02314646 0.03434654
+v 0.00489819 -0.02314642 0.02547652
+v -0.00111738 -0.02314643 0.02827757
+v -0.00365990 -0.01889028 0.02159877
+v 0.00421674 -0.02314642 0.02573295
+v 0.00373267 -0.02314643 0.02592692
+v 0.00063559 -0.02314643 0.02737019
+v 0.00031131 -0.02314643 0.02752142
+v -0.00384319 -0.01882809 0.02159877
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 24
+f 1 24 29
+f 1 29 17
+f 1 17 10
+f 1 10 8
+f 1 8 2
+f 2 9 4
+f 2 4 3
+f 2 8 10
+f 2 10 9
+f 4 9 16
+f 4 16 27
+f 4 27 39
+f 4 39 46
+f 4 46 54
+f 4 54 53
+f 4 53 52
+f 4 52 56
+f 4 56 61
+f 4 61 60
+f 4 60 59
+f 4 59 58
+f 4 58 55
+f 4 55 47
+f 4 47 40
+f 4 40 33
+f 4 33 19
+f 4 19 11
+f 4 11 12
+f 4 12 5
+f 5 12 22
+f 5 22 21
+f 5 21 20
+f 5 20 32
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+f 5 35 34
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+f 5 41 48
+f 5 48 57
+f 5 57 62
+f 5 62 51
+f 5 51 45
+f 5 45 42
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+f 5 36 23
+f 5 23 13
+f 5 13 7
+f 5 7 6
+f 9 14 15
+f 9 15 16
+f 9 10 14
+f 10 17 18
+f 10 18 14
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 13 23 24
+f 14 18 28
+f 14 28 30
+f 14 30 29
+f 14 29 24
+f 14 24 38
+f 14 38 37
+f 14 37 43
+f 14 43 49
+f 14 49 50
+f 14 50 44
+f 14 44 39
+f 14 39 27
+f 14 27 26
+f 14 26 25
+f 14 25 15
+f 15 25 16
+f 16 25 26
+f 16 26 27
+f 17 28 18
+f 17 29 30
+f 17 30 28
+f 19 31 32
+f 19 32 20
+f 19 33 34
+f 19 34 35
+f 19 35 31
+f 23 36 37
+f 23 37 38
+f 23 38 24
+f 33 40 34
+f 34 40 41
+f 36 42 43
+f 36 43 37
+f 39 44 45
+f 39 45 46
+f 40 47 48
+f 40 48 41
+f 42 45 43
+f 43 45 49
+f 44 50 45
+f 45 50 49
+f 45 51 52
+f 45 52 53
+f 45 53 54
+f 45 54 46
+f 47 55 48
+f 48 56 57
+f 48 55 58
+f 48 58 59
+f 48 59 60
+f 48 60 61
+f 48 61 56
+f 51 62 52
+f 52 62 56
+f 56 62 57
+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_31.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..317230ad70479cfe741677355ca553c75ece31e3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_31.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.00432713 0.02910168 0.15752254
+v 0.00438620 0.02937025 0.15779147
+v 0.00440058 0.02937025 0.15752254
+v 0.00442453 0.02859945 0.15752254
+v 0.00491632 0.02937024 0.16190192
+v 0.02049557 0.02937025 0.15752254
+v 0.00497061 0.02578433 0.15752252
+v 0.00512868 0.02509294 0.15752252
+v 0.00506162 0.02937023 0.16259032
+v 0.02035666 0.02937025 0.15818253
+v 0.02063768 0.02420379 0.15959528
+v 0.02063768 0.02691422 0.15752253
+v 0.00566838 0.02476621 0.15752252
+v 0.00624958 0.02783065 0.16486759
+v 0.00571947 0.02727684 0.16259031
+v 0.00607235 0.02937022 0.16579840
+v 0.01187485 0.02937022 0.16606258
+v 0.00844189 0.02937022 0.16719506
+v 0.01068848 0.02777350 0.16505886
+v 0.00842912 0.02772039 0.16511567
+v 0.00736410 0.02422403 0.15752252
+v 0.01781627 0.02420380 0.15752252
+v 0.02063768 0.02420380 0.15752252
+v 0.00842912 0.02937022 0.16719127
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 23
+f 1 23 22
+f 1 22 21
+f 1 21 13
+f 1 13 8
+f 1 8 7
+f 1 7 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 16
+f 2 16 24
+f 2 24 18
+f 2 18 17
+f 2 17 10
+f 2 10 6
+f 2 6 3
+f 4 7 5
+f 5 7 8
+f 5 8 9
+f 6 10 11
+f 6 11 12
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 9 15 14
+f 9 14 16
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 13 21 14
+f 14 21 20
+f 14 20 18
+f 14 18 24
+f 14 24 16
+f 18 20 19
+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_32.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8557a68d5b17ef5fbe9342af55b0d2db442eb83a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_32.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.02076165 0.03247661 0.04642191
+v 0.02274707 0.02920680 0.04642190
+v 0.02264089 0.02799384 0.04468628
+v 0.02060302 0.03074393 0.04545880
+v 0.01654520 0.03074569 0.04546217
+v 0.01649531 0.03239557 0.04642191
+v 0.02274195 0.02905969 0.04642190
+v 0.02264089 0.02746795 0.04468628
+v 0.02059407 0.02347758 0.04342547
+v 0.01674988 0.02347759 0.04216256
+v 0.02060302 0.02867652 0.04438859
+v 0.01654520 0.02867828 0.04438142
+v 0.00967812 0.02347758 0.04234936
+v 0.00967812 0.02528074 0.04375817
+v 0.00967812 0.02865272 0.04642190
+v 0.02264089 0.02746794 0.04513747
+v 0.02220338 0.02620389 0.04642189
+v 0.02090237 0.02347757 0.04642188
+v 0.01257821 0.02347759 0.04211449
+v 0.00967812 0.02347757 0.04642188
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 15
+f 1 15 20
+f 1 20 18
+f 1 18 17
+f 1 17 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 7 16 8
+f 7 17 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 20
+f 9 20 13
+f 9 13 19
+f 9 19 10
+f 10 19 11
+f 11 19 12
+f 12 19 13
+f 13 20 15
+f 13 15 14
+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_33.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2412cd2b5e579fee033b0f6ae854a75a6ecee90d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_33.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.03109835 -0.05271670 0.02159865
+v 0.03188741 -0.05183107 0.02159865
+v 0.03293100 -0.05286480 0.02071231
+v 0.03438398 -0.05437485 0.01978912
+v 0.03438398 -0.05499753 0.01978912
+v 0.03280427 -0.05680612 0.02159863
+v 0.03278518 -0.05091862 0.02159865
+v 0.03498320 -0.05437485 0.01978912
+v 0.03498320 -0.05499753 0.01978912
+v 0.03309486 -0.05687433 0.02159863
+v 0.03651519 -0.05302805 0.02159865
+v 0.03556810 -0.05565171 0.02159864
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 12
+f 1 12 11
+f 1 11 7
+f 1 7 2
+f 2 7 3
+f 3 7 4
+f 4 8 9
+f 4 9 5
+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 7 11 8
+f 8 11 9
+f 9 11 12
+f 9 12 10
+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_34.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c01e70e0ce6272d0a2cdede0f64ef791c82ee50b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_34.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.02090240 0.02347757 0.04642188
+v 0.01993183 0.01904048 0.04642186
+v 0.01971655 0.01762858 0.04605948
+v 0.01909626 0.01439368 0.04531093
+v 0.01899774 0.01450996 0.04262722
+v 0.02032224 0.02176254 0.04306362
+v 0.02059225 0.02347758 0.04342514
+v -0.00412444 0.02347757 0.04642188
+v 0.01899774 0.01762858 0.04642185
+v 0.01819502 0.01244403 0.04262722
+v 0.01669903 0.01477157 0.04642184
+v 0.01678295 0.01320603 0.04574559
+v 0.01558980 0.01060232 0.04505148
+v 0.01508628 0.00655560 0.04150863
+v 0.01951587 0.01779885 0.04222575
+v 0.01508628 0.00655561 0.03921195
+v 0.01861462 0.01532597 0.04048537
+v 0.01837016 0.02347760 0.03773195
+v -0.00589044 0.02347759 0.04111571
+v -0.00664208 0.02156321 0.04642187
+v -0.00019837 0.00226591 0.04642180
+v 0.01050708 0.00313590 0.04058059
+v 0.01107994 0.00249225 0.03849147
+v 0.01111643 0.00240505 0.03773187
+v 0.01337501 0.00519977 0.03773188
+v 0.01473235 0.00809416 0.03773189
+v 0.01523587 0.00936072 0.03773189
+v 0.01578684 0.00936072 0.03858166
+v -0.00561313 0.02347760 0.03773195
+v -0.00590503 0.02347759 0.04008816
+v -0.00872917 0.01768672 0.04642185
+v 0.01084277 0.00226594 0.03810274
+v -0.01637332 0.00226591 0.04642180
+v 0.01091939 0.00226594 0.03773187
+v -0.01358932 0.00226594 0.03773187
+v -0.00590503 0.02347759 0.03965520
+v -0.01297632 0.00914682 0.04642182
+v -0.01078707 0.01355692 0.04642184
+v -0.00981285 0.01551697 0.04642185
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 18
+f 1 18 29
+f 1 29 36
+f 1 36 30
+f 1 30 19
+f 1 19 8
+f 1 8 20
+f 1 20 31
+f 1 31 39
+f 1 39 38
+f 1 38 37
+f 1 37 33
+f 1 33 21
+f 1 21 11
+f 1 11 9
+f 1 9 2
+f 2 9 4
+f 2 4 3
+f 4 10 5
+f 4 9 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 10
+f 5 15 6
+f 5 10 16
+f 5 16 17
+f 5 17 15
+f 6 15 17
+f 6 17 18
+f 6 18 7
+f 8 19 20
+f 10 14 16
+f 11 13 12
+f 11 21 13
+f 13 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 16
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 16 24 25
+f 17 28 27
+f 17 27 18
+f 18 27 26
+f 18 26 25
+f 18 25 24
+f 18 24 34
+f 18 34 35
+f 18 35 29
+f 19 30 31
+f 19 31 20
+f 21 32 22
+f 21 33 35
+f 21 35 34
+f 21 34 32
+f 22 32 23
+f 23 32 24
+f 24 32 34
+f 29 35 33
+f 29 33 36
+f 30 36 33
+f 30 33 37
+f 30 37 38
+f 30 38 39
+f 30 39 31
+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_35.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..130444fef4d93624c8da31deee9d65c6eeb2f5cf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_35.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.01288433 -0.02072868 0.12154931
+v 0.00957322 -0.02072869 0.12490947
+v 0.00827126 -0.01528456 0.12493970
+v 0.00827126 -0.01146443 0.12465775
+v 0.00827126 -0.01061027 0.12473160
+v 0.01288433 -0.01707116 0.12433547
+v 0.01288433 -0.02072880 0.15583899
+v 0.00890260 -0.02072869 0.12585608
+v 0.00827126 -0.01915587 0.12613471
+v 0.00827126 -0.01047477 0.12550031
+v 0.01288433 -0.01472048 0.12904843
+v 0.01288433 -0.01590485 0.12528881
+v 0.01288433 -0.02065553 0.15583899
+v 0.01286717 -0.02072880 0.15583899
+v 0.00827126 -0.02072870 0.12752106
+v 0.01288433 -0.01471246 0.12966608
+v 0.00827126 -0.01121351 0.12897123
+v 0.01288433 -0.01627330 0.15013917
+v 0.01288433 -0.01581861 0.14608080
+v 0.01288433 -0.01984654 0.15554696
+v 0.01047506 -0.02072879 0.15309985
+v 0.00827126 -0.02072871 0.13133102
+v 0.00827126 -0.01136508 0.12935055
+v 0.01288433 -0.01718569 0.15253592
+v 0.01288433 -0.01632048 0.15031373
+v 0.01288433 -0.01628234 0.15017609
+v 0.01288433 -0.01899740 0.15486889
+v 0.01230087 -0.01936074 0.15449964
+v 0.01082324 -0.01806493 0.15017944
+v 0.01021268 -0.02072879 0.15263661
+v 0.00827126 -0.01931951 0.13343910
+v 0.00917491 -0.02072877 0.14607407
+v 0.00827126 -0.01192616 0.12991114
+v 0.00951225 -0.02072878 0.14949129
+v 0.00974934 -0.02013257 0.15017944
+v 0.01288433 -0.01826168 0.15400619
+v 0.01004198 -0.02072879 0.15209280
+v 0.00827126 -0.01458299 0.13228102
+v 0.00964006 -0.02072878 0.15017943
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 11
+f 1 11 16
+f 1 16 19
+f 1 19 18
+f 1 18 26
+f 1 26 25
+f 1 25 24
+f 1 24 36
+f 1 36 27
+f 1 27 20
+f 1 20 13
+f 1 13 7
+f 1 7 14
+f 1 14 21
+f 1 21 30
+f 1 30 37
+f 1 37 39
+f 1 39 34
+f 1 34 32
+f 1 32 22
+f 1 22 15
+f 1 15 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 15
+f 3 15 22
+f 3 22 31
+f 3 31 38
+f 3 38 33
+f 3 33 23
+f 3 23 17
+f 3 17 10
+f 3 10 5
+f 3 5 4
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+f 5 12 6
+f 7 13 14
+f 8 15 9
+f 10 16 11
+f 10 17 18
+f 10 18 19
+f 10 19 16
+f 13 20 21
+f 13 21 14
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 18
+f 20 27 28
+f 20 28 21
+f 21 28 29
+f 21 29 30
+f 22 32 31
+f 23 33 34
+f 23 34 35
+f 23 35 29
+f 23 29 24
+f 24 29 36
+f 27 36 28
+f 28 36 29
+f 29 35 30
+f 30 35 37
+f 31 32 38
+f 32 34 38
+f 33 38 34
+f 34 39 35
+f 35 39 37
+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_36.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04ed442d43e546192fdb809590ae662dcfe17685
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_36.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_37.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8872e899017e610dc461a0c5efb7f728ff3dc7c1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_37.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.00806674 0.01350333 0.01977228
+v -0.00528151 0.01350333 0.01977228
+v 0.00668028 0.01350332 0.02159872
+v 0.00774164 0.01276331 0.02159872
+v 0.00829622 0.01333975 0.01977228
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+v -0.00270939 0.01350332 0.02159872
+v 0.00952013 0.01094444 0.02159871
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+v -0.02758437 0.00441290 0.01977225
+v -0.00338350 0.01309826 0.02159872
+v 0.01000300 0.01044591 0.02159871
+v 0.01177671 0.00972539 0.01977227
+v -0.02900907 0.00340805 0.01977224
+v -0.01553652 0.00566312 0.02159869
+v 0.01159982 0.00862315 0.02159870
+v 0.01224046 0.00919569 0.01977226
+v -0.03039075 0.00195919 0.01977224
+v -0.01652139 0.00479848 0.02159869
+v 0.01326835 0.00495816 0.02159869
+v 0.01541497 0.00495817 0.01977225
+v -0.03127522 0.00046359 0.01977223
+v -0.01930865 0.00108675 0.02159867
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+v -0.03180590 -0.00204854 0.01977222
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+v 0.01454963 -0.00304951 0.02159866
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+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_38.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39c7fc9f2f05bcd997837670d055cc2da0e4ab55
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_38.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.00031049 0.03297558 0.01977235
+v 0.00031049 0.03243616 0.02006451
+v 0.00262816 0.03227415 0.01997224
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+v -0.00642039 0.01904804 0.01977230
+v -0.00527760 0.01350523 0.01977228
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+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_39.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61700cfcb3fbcb71eca1184f1d8798db5c65f22c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_39.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.03474709 0.02937019 0.17500104
+v 0.03429690 0.02937018 0.17614900
+v 0.02826352 0.02420372 0.17878075
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+v 0.02208790 0.02937020 0.17086353
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+v 0.02145266 0.02420374 0.17415596
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+f 18 24 25
+f 18 25 23
+f 20 26 21
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+f 21 30 22
+f 21 26 31
+f 21 31 24
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+f 21 33 27
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+f 24 34 25
+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_4.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76ab94b7f4fc594d2db7b06202172b3ca55c3636
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_4.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.03639055 0.05466245 0.14162070
+v 0.03636878 0.05466245 0.14177070
+v 0.03630998 0.05456310 0.14176017
+v 0.03491411 0.05267255 0.14028394
+v 0.03491411 0.05267256 0.13934453
+v 0.03634918 0.05466246 0.13788673
+v 0.03371641 0.05466241 0.15190162
+v 0.02791952 0.04730826 0.15190159
+v 0.03625989 0.05455087 0.13788937
+v 0.02762990 0.04730831 0.13758409
+v 0.02610119 0.04730834 0.13016089
+v 0.03621634 0.05466246 0.13756044
+v 0.01773034 0.05466241 0.15190162
+v 0.01414376 0.04730826 0.15190159
+v 0.02410647 0.04730836 0.12524278
+v 0.03309360 0.05466248 0.13405014
+v 0.01775211 0.05466241 0.15168585
+v 0.01573344 0.05085682 0.15190161
+v 0.01423087 0.04754296 0.15190159
+v 0.01475785 0.04819451 0.15018066
+v 0.01443121 0.04730827 0.15018065
+v 0.02059829 0.04730836 0.12501911
+v 0.02358384 0.04916435 0.12620062
+v 0.03280833 0.05466248 0.13391857
+v 0.01790890 0.05466242 0.15018068
+v 0.01797641 0.05399145 0.14679932
+v 0.01499086 0.04939823 0.15190160
+v 0.01934615 0.04730834 0.12950040
+v 0.02058087 0.04730836 0.12502437
+v 0.02191794 0.04916435 0.12620062
+v 0.02882107 0.05466248 0.13468694
+v 0.01981652 0.05466243 0.14576517
+v 0.02058087 0.04731772 0.12503753
+v 0.02057216 0.04730836 0.12504016
+v 0.02571357 0.05466246 0.13783147
+v 0.02730761 0.05466247 0.13620000
+f 1 2 3
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+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_40.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cecce139cb582338c6d17c753934f69f2dd70159
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_40.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.00511166 0.02347760 0.04211344
+v 0.00793218 0.02347760 0.04211344
+v -0.00412722 0.02347758 0.04642188
+v -0.00233061 0.03422128 0.04287513
+v -0.00207148 0.03578449 0.04211348
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+v -0.00283587 0.02623771 0.04642189
+v -0.00129550 0.03563367 0.04441868
+v -0.00143159 0.03725912 0.04211349
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+v 0.00946675 0.04657367 0.04211352
+v 0.00967812 0.02865552 0.04642190
+v 0.00010298 0.02933777 0.04642190
+v 0.00198066 0.04096482 0.04486490
+v 0.00137841 0.04238199 0.04267147
+v 0.00164479 0.04346882 0.04211351
+v 0.00923223 0.04749771 0.04211352
+v 0.00842730 0.04657366 0.04258460
+v 0.00285507 0.04096482 0.04486490
+v 0.00842730 0.04793100 0.04211353
+v 0.00440702 0.04652819 0.04211352
+v 0.00435490 0.04650904 0.04211352
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+f 1 18 24
+f 1 24 23
+f 1 23 22
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+f 1 7 2
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+f 19 22 20
+f 20 22 21
+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_41.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a56eca04f0361f9337941a5d7b7155061d075972
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_41.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.02704445 0.02347762 0.03275285
+v 0.02704445 0.02347762 0.03160494
+v 0.02592662 0.02347762 0.03352569
+v 0.01523369 0.00936072 0.03773189
+v 0.01473246 0.00809416 0.03773189
+v 0.02699273 0.02319109 0.03269927
+v 0.02476106 0.02347763 0.02979343
+v 0.02699273 0.02319109 0.03168635
+v 0.01879402 0.01106334 0.02796744
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+v 0.02001926 0.02347760 0.03685195
+v 0.01837235 0.02347760 0.03773195
+v 0.01337198 0.00519977 0.03773188
+v 0.02277603 0.01534676 0.03245606
+v 0.01914011 0.01349263 0.02785616
+v 0.01976864 0.01762865 0.02792211
+v 0.02083475 0.02156535 0.02833637
+v 0.02073132 0.02347764 0.02854865
+v 0.02277603 0.01534676 0.03188622
+v 0.01668567 0.00961199 0.02720491
+v 0.01528938 0.00640200 0.02738109
+v 0.01502286 0.00623382 0.02720489
+v -0.00561514 0.02347760 0.03773195
+v 0.01111644 0.00240505 0.03773187
+v 0.01117213 0.00226595 0.03652934
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+v 0.01528938 0.00640199 0.02952750
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+v 0.00842729 0.01919835 0.02720494
+v 0.00460839 0.01937276 0.02720494
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+v -0.01186859 0.00226598 0.02720488
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+v -0.00339938 0.02347761 0.03486835
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+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_42.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34cdb50fb18bb527c87b688333edfd6630d1873a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_42.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.03626300 -0.03370185 0.05011697
+v 0.03706108 -0.03602571 0.05049489
+v 0.03933220 -0.03733550 0.04939311
+v 0.03626300 -0.03370184 0.04747148
+v 0.03277880 -0.03370186 0.05194136
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+v 0.03683762 -0.04026294 0.05113870
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+v 0.02871999 -0.03370186 0.05236976
+v 0.00843047 -0.04439758 0.05547316
+v 0.01248928 -0.04853221 0.05523555
+v 0.01654810 -0.05266382 0.05449199
+v 0.03683762 -0.04439757 0.05054041
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+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_43.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28f2ed862f3ffd670b64b9cd2180f288d845f11e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_43.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.00382150 -0.03369880 0.03839194
+v 0.01238388 -0.03369880 0.03839194
+v 0.00382150 -0.03369886 0.05332233
+v 0.00382150 -0.00033447 0.03839206
+v 0.03459333 -0.03369883 0.04650956
+v 0.01726850 -0.01672757 0.03839200
+v 0.00437094 -0.03369886 0.05333071
+v 0.01256491 -0.02749633 0.05552618
+v 0.01248868 -0.02748979 0.05552618
+v 0.00382150 -0.02570318 0.05552619
+v 0.00382150 -0.01596661 0.05552622
+v 0.00772793 -0.01660025 0.05552622
+v 0.00842981 -0.01673090 0.05552622
+v 0.01248868 -0.01757685 0.05552622
+v 0.01321598 -0.01785448 0.05552621
+v 0.01505486 -0.01707385 0.05359577
+v 0.01918042 -0.01305312 0.04501358
+v 0.01946626 -0.01259257 0.04262861
+v 0.01498816 -0.00899973 0.04087093
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+v 0.01513108 -0.00875802 0.03839203
+v 0.03626706 -0.03369883 0.04746892
+v 0.01753845 -0.01549948 0.03839200
+v 0.01694455 -0.01129913 0.03839202
+v 0.02872099 -0.03369885 0.05236968
+v 0.01629666 -0.02743100 0.05552618
+v 0.01648086 -0.01973255 0.05552621
+v 0.02735851 -0.02099982 0.04937257
+v 0.02344573 -0.01660022 0.04597963
+v 0.02344573 -0.01660021 0.04380934
+v 0.01915819 -0.01265789 0.03994845
+v 0.01686515 -0.01115542 0.03839202
+v 0.03567951 -0.03198734 0.04796201
+v 0.03626706 -0.03369884 0.05011721
+v 0.03277986 -0.03369885 0.05194032
+v 0.01654755 -0.02738201 0.05552618
+v 0.01864051 -0.02155836 0.05552620
+v 0.03123635 -0.02514790 0.04949164
+v 0.03123635 -0.02514790 0.04814989
+v 0.03491410 -0.02976959 0.04867818
+v 0.03567951 -0.03198734 0.04983879
+v 0.03277986 -0.03198735 0.05169880
+v 0.01870403 -0.02185558 0.05552620
+v 0.01894222 -0.02346582 0.05552619
+v 0.01900257 -0.02400475 0.05552619
+v 0.01897398 -0.02465799 0.05552619
+v 0.01827210 -0.02622904 0.05552618
+v 0.03266553 -0.02817568 0.05009542
+v 0.03491410 -0.02976959 0.04904046
+f 1 2 5
+f 1 5 22
+f 1 22 34
+f 1 34 35
+f 1 35 25
+f 1 25 7
+f 1 7 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 21
+f 1 21 32
+f 1 32 24
+f 1 24 23
+f 1 23 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
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+f 3 9 10
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
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+f 4 19 20
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+f 5 23 24
+f 5 24 22
+f 7 25 26
+f 7 26 8
+f 8 26 36
+f 8 36 47
+f 8 47 46
+f 8 46 45
+f 8 45 44
+f 8 44 43
+f 8 43 37
+f 8 37 27
+f 8 27 15
+f 8 15 14
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+f 8 12 11
+f 8 11 10
+f 8 10 9
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+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 17 29 18
+f 18 30 31
+f 18 31 21
+f 18 21 20
+f 18 20 19
+f 18 29 30
+f 21 31 32
+f 22 33 41
+f 22 41 34
+f 22 24 31
+f 22 31 33
+f 24 32 31
+f 25 35 36
+f 25 36 26
+f 27 37 28
+f 28 37 38
+f 28 38 29
+f 29 38 39
+f 29 39 30
+f 30 39 40
+f 30 40 31
+f 31 40 33
+f 33 40 49
+f 33 49 41
+f 34 41 42
+f 34 42 35
+f 35 42 37
+f 35 37 43
+f 35 43 44
+f 35 44 45
+f 35 45 46
+f 35 46 47
+f 35 47 36
+f 37 42 48
+f 37 48 38
+f 38 48 41
+f 38 41 49
+f 38 49 40
+f 38 40 39
+f 41 48 42
+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_44.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b4b91fb42efacd9a4fb5134e562647b50055bf6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_44.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00058636 -0.03369880 0.03856265
+v 0.00102510 -0.03369881 0.04080916
+v 0.00060403 -0.03369880 0.03839194
+v 0.00104278 -0.03612713 0.03839193
+v 0.00103313 -0.03612713 0.03849118
+v 0.00231240 -0.03825698 0.04058947
+v 0.00146866 -0.03369881 0.04192602
+v 0.01238262 -0.03369880 0.03839194
+v 0.00107492 -0.03623505 0.03839193
+v 0.00210830 -0.03862459 0.03849117
+v 0.00393559 -0.04167180 0.03839191
+v 0.00561986 -0.04440029 0.03839190
+v 0.00583682 -0.04324853 0.04088322
+v 0.00271097 -0.03441888 0.04289819
+v 0.00230919 -0.03369882 0.04289820
+v 0.01617382 -0.03369882 0.04289820
+v 0.01420831 -0.03820975 0.03839192
+v 0.00210669 -0.03862796 0.03839192
+v 0.00598146 -0.04491294 0.03839190
+v 0.00709680 -0.04600400 0.03922336
+v 0.00980158 -0.04690114 0.04072750
+v 0.00440166 -0.03603102 0.04289819
+v 0.01700470 -0.04853013 0.03839188
+v 0.01654506 -0.04568697 0.03839189
+v 0.01633453 -0.04439523 0.03839190
+v 0.01540079 -0.03494165 0.04289819
+v 0.01654506 -0.04970719 0.03839188
+v 0.00688466 -0.04614565 0.03839189
+v 0.00826518 -0.04762457 0.03839189
+v 0.00868946 -0.04796183 0.03839188
+v 0.01260280 -0.05092473 0.03839187
+v 0.01090889 -0.04690114 0.04072750
+v 0.00862196 -0.03656222 0.04289819
+f 1 2 7
+f 1 7 15
+f 1 15 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 17
+f 3 17 25
+f 3 25 24
+f 3 24 23
+f 3 23 27
+f 3 27 31
+f 3 31 30
+f 3 30 29
+f 3 29 28
+f 3 28 19
+f 3 19 12
+f 3 12 11
+f 3 11 18
+f 3 18 9
+f 3 9 4
+f 4 9 5
+f 5 9 10
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 8 16 17
+f 9 18 10
+f 10 18 11
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 14 22 33
+f 14 33 26
+f 14 26 16
+f 14 16 15
+f 16 23 24
+f 16 24 25
+f 16 25 17
+f 16 26 27
+f 16 27 23
+f 19 28 20
+f 20 28 29
+f 20 29 30
+f 20 30 21
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 22
+f 26 33 32
+f 26 32 27
+f 27 32 31
+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_45.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..101097d9ff9908af5ffbb1c2185dc4a4858315a2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_45.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.02872174 -0.00277158 0.01977221
+v 0.02753077 -0.00331040 0.01977221
+v 0.02628025 -0.00463233 0.02001839
+v 0.02872174 -0.00411520 0.02020916
+v 0.03278029 -0.00432525 0.02016135
+v 0.03278029 -0.00324876 0.01977221
+v 0.02576284 -0.00411406 0.01977220
+v 0.02570726 -0.00718145 0.02022818
+v 0.02872174 -0.00718146 0.02077941
+v 0.03278029 -0.00718146 0.02077931
+v 0.03511724 -0.00375105 0.01977221
+v 0.02441837 -0.00718145 0.01977219
+v 0.02452688 -0.00970545 0.01977218
+v 0.02580254 -0.01131505 0.02019041
+v 0.02872174 -0.01131506 0.02054938
+v 0.03251034 -0.01143948 0.02039755
+v 0.03590328 -0.01014381 0.02026672
+v 0.03607531 -0.00718145 0.02022818
+v 0.03651861 -0.00479558 0.01977220
+v 0.03595224 -0.00428986 0.01977220
+v 0.02460628 -0.01131505 0.01977218
+v 0.02543334 -0.01290411 0.01977217
+v 0.02640729 -0.01366553 0.01996817
+v 0.02872174 -0.01371462 0.01997912
+v 0.03148346 -0.01406736 0.01977217
+v 0.03680180 -0.01112555 0.01977218
+v 0.03793454 -0.00741090 0.01977219
+v 0.03793587 -0.00718145 0.01977219
+v 0.02603941 -0.01404225 0.01977217
+v 0.02872174 -0.01443152 0.01977217
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 20
+f 1 20 19
+f 1 19 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 30
+f 1 30 29
+f 1 29 22
+f 1 22 21
+f 1 21 13
+f 1 13 12
+f 1 12 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 6
+f 7 12 8
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 9 15 10
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 10 15 16
+f 13 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 15 24 16
+f 16 25 17
+f 16 24 25
+f 17 26 27
+f 17 27 28
+f 17 28 18
+f 17 25 26
+f 18 28 19
+f 22 29 23
+f 23 30 24
+f 23 29 30
+f 24 30 25
+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_46.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a57c345a7081ad1775999a0d060ab4557f18a3de
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_46.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.02622262 -0.05459238 0.04289812
+v 0.02674942 -0.05065638 0.04289813
+v 0.03065402 -0.05855346 0.04050173
+v 0.03063043 -0.06093359 0.04048823
+v 0.02636415 -0.05850907 0.04289811
+v 0.02909092 -0.04891327 0.04289814
+v 0.03683880 -0.05372371 0.04027771
+v 0.03683880 -0.05679876 0.03953206
+v 0.03305213 -0.05702462 0.04019928
+v 0.03278166 -0.06093359 0.03971789
+v 0.03068862 -0.06306085 0.04052215
+v 0.02666450 -0.06093360 0.04289810
+v 0.03683880 -0.04485566 0.04289816
+v 0.03980774 -0.05349979 0.04022136
+v 0.04007350 -0.05679876 0.03993898
+v 0.03715959 -0.06125596 0.03964934
+v 0.03602108 -0.06365926 0.04003682
+v 0.03278166 -0.06353957 0.04013962
+v 0.02909092 -0.06389091 0.04271160
+v 0.02867262 -0.06384651 0.04289809
+v 0.03733886 -0.04490778 0.04289816
+v 0.04089751 -0.04853105 0.04195811
+v 0.04228606 -0.04853106 0.04289814
+v 0.04218699 -0.05251338 0.04289813
+v 0.04171365 -0.05640884 0.04289811
+v 0.03953569 -0.06009195 0.04007011
+v 0.03818174 -0.06231960 0.04262725
+v 0.03615160 -0.06387160 0.04262725
+v 0.03278166 -0.06457618 0.04262724
+v 0.03278166 -0.06452985 0.04289808
+v 0.04096670 -0.04610460 0.04289815
+v 0.04116641 -0.05757478 0.04289811
+v 0.03977472 -0.06025218 0.04262726
+v 0.03787038 -0.06245086 0.04289809
+v 0.03606668 -0.06383106 0.04289809
+v 0.03831855 -0.06200302 0.04289809
+v 0.03973383 -0.06016532 0.04289810
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 20
+f 1 20 30
+f 1 30 35
+f 1 35 34
+f 1 34 36
+f 1 36 37
+f 1 37 32
+f 1 32 25
+f 1 25 24
+f 1 24 23
+f 1 23 31
+f 1 31 21
+f 1 21 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 6 13 7
+f 7 14 8
+f 7 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 10
+f 8 10 9
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 13 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 15 23 24
+f 16 26 17
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 17 26 27
+f 18 29 19
+f 19 29 20
+f 20 29 30
+f 21 31 22
+f 22 31 23
+f 25 32 26
+f 26 32 33
+f 26 33 27
+f 27 34 35
+f 27 35 28
+f 27 33 36
+f 27 36 34
+f 28 30 29
+f 28 35 30
+f 32 37 33
+f 33 37 36
+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_47.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e954170e000665027216eb6f6db5bce271e1befe
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_47.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.01698454 0.01368445 0.01977240
+v 0.01883702 0.01153041 0.01977239
+v 0.01698454 0.01372357 0.01978639
+v 0.01698454 0.02428954 0.01977244
+v 0.02132002 0.01078584 0.01977239
+v 0.02164030 0.01119434 0.02000591
+v 0.01893522 0.01162312 0.01982237
+v 0.01756930 0.01437977 0.02014936
+v 0.01698454 0.01381338 0.01981763
+v 0.01698454 0.02350875 0.01996810
+v 0.01788511 0.02439963 0.02017777
+v 0.01734276 0.02497472 0.01977244
+v 0.02466230 0.01070182 0.01977239
+v 0.02466230 0.01117406 0.02000991
+v 0.02466230 0.01349468 0.02052270
+v 0.02041498 0.01319918 0.02039026
+v 0.02060469 0.01763039 0.02104874
+v 0.01700909 0.01763040 0.02035641
+v 0.01698454 0.01763040 0.02034866
+v 0.01698454 0.02328712 0.02000671
+v 0.01724567 0.02176320 0.02037767
+v 0.02060469 0.02176319 0.02087821
+v 0.02060469 0.02455318 0.02025111
+v 0.01901892 0.02532527 0.01977244
+v 0.02650139 0.01096981 0.01977239
+v 0.02685068 0.01132471 0.01992457
+v 0.02729483 0.01349469 0.02008489
+v 0.02466230 0.01763039 0.02083233
+v 0.01698454 0.02128662 0.02030208
+v 0.01698454 0.02176320 0.02027184
+v 0.02455740 0.02156765 0.02034981
+v 0.02313344 0.02422580 0.02007444
+v 0.02262903 0.02515144 0.01977244
+v 0.02060469 0.02549910 0.01977244
+v 0.02709508 0.01107121 0.01977239
+v 0.02755262 0.01194036 0.01977239
+v 0.02820545 0.01349469 0.01977240
+v 0.02740085 0.01763040 0.02014000
+v 0.02699130 0.02005967 0.01999807
+v 0.02689867 0.02156765 0.01977243
+v 0.02370035 0.02482116 0.01977244
+v 0.02838400 0.01763040 0.01977241
+v 0.02792870 0.01953094 0.01977242
+v 0.02753923 0.02060868 0.01977243
+f 1 2 3
+f 1 3 9
+f 1 9 19
+f 1 19 29
+f 1 29 30
+f 1 30 20
+f 1 20 10
+f 1 10 4
+f 1 4 12
+f 1 12 24
+f 1 24 34
+f 1 34 33
+f 1 33 41
+f 1 41 40
+f 1 40 44
+f 1 44 43
+f 1 43 42
+f 1 42 37
+f 1 37 36
+f 1 36 35
+f 1 35 25
+f 1 25 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 4 10 11
+f 4 11 12
+f 5 13 6
+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 19
+f 8 19 9
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 13 25 14
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 15 27 28
+f 15 28 17
+f 15 17 16
+f 17 28 22
+f 17 22 21
+f 17 21 18
+f 18 21 29
+f 18 29 19
+f 20 30 21
+f 21 30 29
+f 22 28 31
+f 22 31 32
+f 22 32 23
+f 23 32 33
+f 23 33 34
+f 23 34 24
+f 25 35 26
+f 26 35 36
+f 26 36 37
+f 26 37 27
+f 27 37 38
+f 27 38 28
+f 28 38 39
+f 28 39 31
+f 31 39 40
+f 31 40 32
+f 32 41 33
+f 32 40 41
+f 37 42 38
+f 38 42 43
+f 38 43 44
+f 38 44 39
+f 39 44 40
+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_48.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..398fb1fa8aaac3f8963e7f2af9739e112106431a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_48.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.01474620 -0.00322689 0.03839205
+v -0.01984317 -0.00738946 0.05552625
+v -0.01797871 -0.00515708 0.04877052
+v -0.01820011 -0.00304621 0.04798728
+v -0.01825837 -0.00042660 0.04776758
+v -0.01474620 0.00056205 0.03839206
+v -0.01291669 -0.00703101 0.03839203
+v -0.01895055 -0.00902956 0.05552625
+v -0.01998766 -0.00308723 0.05552627
+v -0.01997601 -0.00304623 0.05503653
+v -0.01909738 -0.00304622 0.05090057
+v -0.01290038 -0.00706138 0.03839203
+v -0.01842851 0.00226589 0.05248386
+v -0.01701618 0.00226590 0.04810303
+v -0.01377668 0.00226594 0.03839207
+v -0.01790413 -0.01064993 0.05552624
+v -0.00943248 -0.01324821 0.03839201
+v -0.01869419 0.00226588 0.05552629
+v 0.00096888 0.00226594 0.03839207
+v -0.01706745 -0.01179040 0.05552624
+v -0.01596509 -0.01324827 0.05552623
+v 0.00382150 -0.01324821 0.03839201
+v -0.01273957 0.00226588 0.05552629
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+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_5.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..109553ac2ea2b02e0a9eb4bb591de2b94e3e9165
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_5.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_6.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12ec51c7de974b3b2367bf8a2cec89713793765b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_6.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_7.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed9f6bc7c18155b2cd98507ff79f45f4db04b1d5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_7.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_8.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9927cf2c0578f4771048f8201c6e1edfe21ddfdc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_8.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_9.obj b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f799a6d3d674254667b3a95236bba854c8f2827
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_collision_9.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..168345bfd75ff95c856e3bf20c1d1f9a29422aad
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/mjcf/mesh/houseplant_013_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:547b4ceec6d65b6bd26e293d3be9199af5f7cbb64a08d34ede19488ceb681a03
+size 12584779
diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/textures/material_0.png b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..168345bfd75ff95c856e3bf20c1d1f9a29422aad
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/video.mp4 b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9ff8a23547951d2e1be6f99b1243c992bf612878
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b4b2aa737edf530eaa5f24d709d47d2e/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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