diff --git a/.gitattributes b/.gitattributes
index 91a15cb3fe774bb10f12f9eb89cffd0d6de359b3..0881ee3eca1b9fe5edc3df52308d1cec489b7c62 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4939,3 +4939,4 @@ dataset/livingroom_supplies/ornaments/544a9e90a91959c2b5ff6b03d5082e22/diffuser_
 dataset/livingroom_supplies/ornaments/544a9e90a91959c2b5ff6b03d5082e22/mesh/diffuser_bottle_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/4b83bcdb360750d187aebc24da8bb7e8/houseplant_018.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/4b83bcdb360750d187aebc24da8bb7e8/mesh/houseplant_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/588b1987ba6b5fd3b2bbe5dd816df14f.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/588b1987ba6b5fd3b2bbe5dd816df14f.urdf b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/588b1987ba6b5fd3b2bbe5dd816df14f.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..78be1a7140c0b903e26615c4a7fd91f3cf31b606
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/588b1987ba6b5fd3b2bbe5dd816df14f.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wind_chime_48">
+   <link name="wind_chime_48">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wind_chime_48.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wind_chime_48_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.1500" />
+         <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>0.600000</scale>
+         <version>v0.1.5</version>
+         <category>wind_chime</category>
+         <description>metallic wind chime with cylindrical rods and a circular base</description>
+         <min_height>0.5</min_height>
+         <max_height>0.7</max_height>
+         <real_height>0.6</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.5</max_mass>
+         <generate_time>20251016214302</generate_time>
+         <gs_model>mesh/wind_chime_48_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.098819851875305</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/588b1987ba6b5fd3b2bbe5dd816df14f.usd b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/588b1987ba6b5fd3b2bbe5dd816df14f.usd
new file mode 100644
index 0000000000000000000000000000000000000000..1cc22cb8bdf18f91127cad4441f73bfcc3ce4b2b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/588b1987ba6b5fd3b2bbe5dd816df14f.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4edac8bb509b87ce5731bbd24fddd3bc841079ed58fd1dbbdec5604931634878
+size 427325
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf588e1919bc62d3ea56c96b6142f1622d77fdf5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b9724b8bc35e75ee44dea8711c02e87f3a56977ae32fdd714edc00df995a73f
+size 2114699
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mesh/wind_chime_48.glb b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mesh/wind_chime_48.glb
new file mode 100644
index 0000000000000000000000000000000000000000..93dd0339d6f212aaac78890ca33f4adadcacfbb9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mesh/wind_chime_48.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdc941e7aa26f32ed936d8b4cea14448b04e754ffd462322f02b4d1e4c0232ab
+size 2424988
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mesh/wind_chime_48.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mesh/wind_chime_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6507c0b4844e4b4ebb24d3e19c72f11bce4b0a17
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mesh/wind_chime_48.obj
@@ -0,0 +1,28560 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mesh/wind_chime_48_collision.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mesh/wind_chime_48_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dadc9ef56cf63e5bc32a94a16c224bc61a37654f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mesh/wind_chime_48_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/588b1987ba6b5fd3b2bbe5dd816df14f.xml b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/588b1987ba6b5fd3b2bbe5dd816df14f.xml
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diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61c51105e18195913da9848093e25665bbac77bc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48.obj
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diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d244df0838afa6d1553e1ebbb07f00e8755cc22
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision.obj
@@ -0,0 +1,7267 @@
+# https://github.com/mikedh/trimesh
+
+o wind_chime_48_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_0.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a4281ab3749afd1d3afd957fbcef0f0e0624fde
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_0.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_1.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..376c77c4dfd52bac8d3ffb9b90b75f49cdf2076c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_1.obj
@@ -0,0 +1,1183 @@
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diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_10.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77ea35e1afdb7925ea06b7567b4eaacd7ddef93e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_10.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_11.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82c8960b4f6ab00d2754e2d34e66182e672f6bd1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_11.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_12.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd9cd5a88a3c61d0705d92e6473db620c68f8fcf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_12.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_13.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..452cf3cea8bcd1dc3098bebbeb4a4434ca391f71
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_13.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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+f 33 60 34
+f 36 60 62
+f 36 62 41
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+f 37 62 80
+f 37 80 79
+f 37 79 78
+f 37 78 77
+f 37 77 76
+f 37 76 75
+f 37 75 73
+f 37 73 72
+f 37 72 69
+f 37 69 45
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+f 37 68 84
+f 37 84 83
+f 37 83 82
+f 37 82 81
+f 37 81 64
+f 37 64 63
+f 37 63 39
+f 37 39 38
+f 39 63 40
+f 40 63 64
+f 40 64 42
+f 42 64 65
+f 42 65 43
+f 43 65 66
+f 44 67 45
+f 45 67 70
+f 45 70 71
+f 45 71 66
+f 45 66 65
+f 45 65 68
+f 52 69 72
+f 52 72 73
+f 52 73 74
+f 52 74 53
+f 53 73 54
+f 53 74 73
+f 54 75 55
+f 54 73 75
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+f 60 80 62
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+f 65 84 68
+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_14.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deeb30934d85cce7199f2b863f14bb6f3549cf88
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_14.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.04324996 -0.05055838 0.06453444
+v -0.04324996 -0.05024857 0.05461023
+v -0.04324996 -0.04827148 0.06799228
+v -0.05324871 -0.03324372 0.09697541
+v -0.06011931 -0.03324372 0.09697541
+v -0.05964997 -0.04006126 0.07263450
+v -0.06068204 -0.04067807 0.06453448
+v -0.06090319 -0.04047576 -0.01491373
+v -0.06084176 -0.04044339 -0.02485156
+v -0.06069924 -0.04036791 -0.04209983
+v -0.04324996 -0.04496608 -0.01491375
+v -0.04324996 -0.04413674 0.07147734
+v -0.05324871 -0.02654192 0.09697543
+v -0.06011931 -0.02654192 0.09697543
+v -0.06794335 -0.03030484 0.07086478
+v -0.06550571 -0.03592647 0.06453450
+v -0.06076804 -0.04061877 0.05461026
+v -0.06559417 -0.03608536 0.05461028
+v -0.06559909 -0.03616074 0.04467245
+v -0.06572687 -0.03641646 -0.00497588
+v -0.06090073 -0.04048387 -0.00497590
+v -0.06572932 -0.03642451 -0.01491371
+v -0.06566790 -0.03638137 -0.02485154
+v -0.06552291 -0.03627895 -0.04209981
+v -0.05343546 -0.04036791 -0.04209983
+v -0.04324996 -0.04396939 -0.02297292
+v -0.04324996 -0.04359262 0.07140927
+v -0.04725782 -0.02751962 0.07245758
+v -0.04879854 -0.02304274 0.06453455
+v -0.05216504 -0.02304278 0.07500332
+v -0.06312459 -0.02304277 0.07426818
+v -0.06666064 -0.02304274 0.06600481
+v -0.06794335 -0.02752230 0.07086479
+v -0.06822594 -0.03105097 0.06453452
+v -0.06825543 -0.03120985 0.05461030
+v -0.06828000 -0.03128523 0.04467247
+v -0.06832915 -0.03140907 0.02482402
+v -0.06834389 -0.03146021 0.01488619
+v -0.06834881 -0.03150059 0.00494835
+v -0.06834881 -0.03154095 -0.00497587
+v -0.06834881 -0.03154900 -0.01491370
+v -0.06835127 -0.03150586 -0.02485153
+v -0.06834635 -0.03140344 -0.04209980
+v -0.06761653 -0.03269101 -0.04209980
+v -0.05216258 -0.03985073 -0.04209983
+v -0.04860933 -0.03825609 -0.04209982
+v -0.04324996 -0.04370271 -0.02325880
+v -0.04324996 -0.03980802 0.06663096
+v -0.04673933 -0.02652025 0.06453453
+v -0.04817685 -0.02304270 0.05461033
+v -0.06681545 -0.02304274 0.06453455
+v -0.06822594 -0.02657142 0.06453453
+v -0.06825543 -0.02640169 0.05461031
+v -0.06832915 -0.02619955 0.02482404
+v -0.06834389 -0.02616180 0.01488621
+v -0.06834881 -0.02618332 0.00494837
+v -0.06835127 -0.02612934 -0.02485151
+v -0.06834881 -0.03144387 -0.03477575
+v -0.06834635 -0.02599998 -0.04209978
+v -0.04666069 -0.03338328 -0.04209980
+v -0.04324996 -0.04311820 -0.02304098
+v -0.04666069 -0.02565250 -0.04209977
+v -0.04324996 -0.03906458 0.06453449
+v -0.04658943 -0.02618081 0.05461031
+v -0.04804415 -0.02304266 0.04467250
+v -0.06716685 -0.02304271 0.05759168
+v -0.06719388 -0.02304270 0.05461033
+v -0.06730200 -0.02304259 0.02482406
+v -0.06732411 -0.02304255 0.01488623
+v -0.06742732 -0.02304235 -0.04209976
+v -0.06834881 -0.02604849 -0.03477573
+v -0.04324996 -0.04292695 -0.02193829
+v -0.04779351 -0.02304235 -0.04209976
+v -0.04658698 -0.02579816 0.01488622
+v -0.04654766 -0.02602992 0.04467248
+v -0.04798026 -0.02304263 0.03473467
+v -0.04787460 -0.02304255 0.01488623
+v -0.04791883 -0.02304259 0.02482406
+f 1 2 11
+f 1 11 26
+f 1 26 47
+f 1 47 61
+f 1 61 72
+f 1 72 63
+f 1 63 48
+f 1 48 27
+f 1 27 12
+f 1 12 3
+f 1 3 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
+f 2 10 11
+f 3 12 4
+f 4 13 14
+f 4 14 5
+f 4 12 13
+f 5 14 33
+f 5 33 15
+f 5 15 16
+f 5 16 6
+f 6 16 7
+f 7 17 8
+f 7 16 18
+f 7 18 19
+f 7 19 20
+f 7 20 17
+f 8 21 22
+f 8 22 9
+f 8 17 21
+f 9 22 23
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+f 10 23 24
+f 10 24 44
+f 10 44 43
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+f 10 25 26
+f 10 26 11
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+f 13 30 14
+f 14 30 31
+f 14 31 32
+f 14 32 33
+f 15 33 52
+f 15 52 34
+f 15 34 16
+f 16 34 18
+f 17 20 22
+f 17 22 21
+f 18 35 36
+f 18 36 37
+f 18 37 20
+f 18 20 19
+f 18 34 35
+f 20 38 39
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+f 20 40 22
+f 20 37 38
+f 22 41 42
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+f 35 37 36
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+f 39 57 42
+f 39 42 40
+f 40 42 41
+f 42 57 71
+f 42 71 58
+f 42 58 43
+f 43 58 71
+f 43 71 59
+f 46 60 47
+f 47 60 62
+f 47 62 61
+f 48 63 49
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+f 49 64 50
+f 50 64 65
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+f 52 67 53
+f 53 67 54
+f 54 68 55
+f 54 67 68
+f 55 69 70
+f 55 70 59
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+f 55 71 56
+f 55 68 69
+f 56 71 57
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+f 62 73 74
+f 62 74 63
+f 62 63 72
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+f 63 74 75
+f 64 75 65
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+f 73 77 74
+f 74 77 75
+f 75 78 76
+f 75 77 78
+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_15.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d90ebe154c9f12b8326fa7a2aef7b1aacea8f42
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_15.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.05198331 -0.03297258 0.13180380
+v 0.05198331 -0.03394336 0.13180380
+v 0.05365031 -0.02456413 0.13180383
+v 0.05340228 -0.02649955 0.09697544
+v 0.06141794 -0.03437650 0.13180379
+v 0.05340228 -0.03286593 0.09697542
+v 0.06285820 -0.02411090 0.13180383
+v 0.06036621 -0.02649955 0.09697544
+v 0.06272194 -0.03437650 0.13180379
+v 0.06036621 -0.03286593 0.09697542
+v 0.06285820 -0.02443349 0.13180383
+f 1 2 5
+f 1 5 9
+f 1 9 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 7 4
+f 4 8 10
+f 4 10 6
+f 4 7 8
+f 5 6 10
+f 5 10 9
+f 7 11 10
+f 7 10 8
+f 9 10 11
+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_16.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48088a83ff0078c9a5d6f734c85b8d800ba55db9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_16.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v -0.04183167 -0.05580645 0.13153171
+v -0.04008468 -0.05949877 0.13153169
+v -0.04149732 -0.05475978 0.13153171
+v -0.03308273 -0.05396136 0.09697533
+v -0.03308273 -0.06060327 0.09697531
+v -0.03379518 -0.06351278 0.13153168
+v -0.03328229 -0.05158311 0.13153172
+v -0.02643439 -0.05396136 0.09697533
+v -0.03137076 -0.05143173 0.13153172
+v -0.02643439 -0.06060327 0.09697531
+v -0.02394870 -0.06308938 0.13153168
+v -0.02441958 -0.05411404 0.13153171
+f 1 2 6
+f 1 6 11
+f 1 11 12
+f 1 12 9
+f 1 9 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 10
+f 4 10 5
+f 4 7 9
+f 4 9 8
+f 5 10 6
+f 6 10 11
+f 8 9 12
+f 8 12 11
+f 8 11 10
+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_17.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dc9a191fe6ab7ddf7320d164e803b3136fef7a5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_17.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.05343362 -0.04036837 -0.04211031
+v -0.05216332 -0.03984539 -0.04211031
+v -0.06069743 -0.04036837 -0.04211031
+v -0.05342117 -0.04034749 -0.10430967
+v -0.05338070 -0.04033363 -0.13411419
+v -0.04861080 -0.03825581 -0.04211030
+v -0.04855476 -0.03828299 -0.13411418
+v -0.06552337 -0.03627400 -0.04211029
+v -0.06062582 -0.04034749 -0.10430967
+v -0.06046081 -0.04033363 -0.13411419
+v -0.05472884 -0.03982438 -0.14218931
+v -0.04666175 -0.03337697 -0.04211028
+v -0.05198585 -0.03505563 -0.14540885
+v -0.04724086 -0.03206915 -0.14200051
+v -0.04679563 -0.03340416 -0.13411416
+v -0.04670845 -0.03338362 -0.10430964
+v -0.04668977 -0.03339053 -0.09438879
+v -0.04667109 -0.03339745 -0.08445744
+v -0.06761564 -0.03268884 -0.04211028
+v -0.06842826 -0.03129160 -0.13411415
+v -0.06545175 -0.03621184 -0.10430965
+v -0.06528674 -0.03617044 -0.13411417
+v -0.05955789 -0.03982438 -0.14218931
+v -0.05567223 -0.03153926 -0.14923665
+v -0.03757966 -0.00190191 -0.04211017
+v -0.04923662 0.02993135 -0.14387748
+v -0.04709453 0.02686228 -0.14202126
+v -0.03794394 -0.00124098 -0.13020233
+v -0.03764504 -0.00194977 -0.12418271
+v -0.03761702 -0.00187412 -0.11425136
+v -0.06834420 -0.03140204 -0.04211028
+v -0.06920664 -0.00448220 -0.09438869
+v -0.06914437 -0.00438583 -0.10430954
+v -0.06905719 -0.00427569 -0.11425137
+v -0.06896067 -0.00404857 -0.12418271
+v -0.06811692 -0.03057591 -0.14163345
+v -0.06929382 -0.00461309 -0.05466331
+v -0.06929382 -0.00464058 -0.06459466
+v -0.06927514 -0.00464743 -0.07452600
+v -0.06924089 -0.00457858 -0.08445734
+v -0.06268073 -0.03431245 -0.14522008
+v -0.05937108 -0.03153926 -0.14923665
+v -0.05595556 0.02993137 -0.14919447
+v -0.05444551 0.02993136 -0.14800943
+v -0.03757966 0.00228192 -0.04211015
+v -0.03760145 -0.00178473 -0.09438868
+v -0.04716925 0.02993134 -0.14182200
+v -0.03794394 0.00135327 -0.13020233
+v -0.03764504 0.00200009 -0.12418269
+v -0.03761702 0.00207575 -0.11425134
+v -0.06938411 0.00185528 -0.04211015
+v -0.06920664 0.00387858 -0.09438866
+v -0.06914437 0.00370658 -0.10430951
+v -0.06905719 0.00348641 -0.11425134
+v -0.06896067 0.00330066 -0.12418269
+v -0.06811692 -0.02629574 -0.14163344
+v -0.06927514 0.00400924 -0.07452597
+v -0.05893207 0.02993137 -0.14919447
+v -0.06805776 0.02993134 -0.14133959
+v -0.04615736 0.02993097 -0.04211005
+v -0.03760145 0.00219266 -0.09438866
+v -0.04670222 0.02993131 -0.13384126
+v -0.04657457 0.02993129 -0.12911156
+v -0.04640333 0.02993119 -0.09942240
+v -0.04634729 0.02993115 -0.08950155
+v -0.04632549 0.02993113 -0.08445721
+v -0.06936232 0.00424997 -0.04211014
+v -0.06837534 0.02993131 -0.13411393
+v -0.06924089 0.00396799 -0.08445731
+v -0.06811069 0.02993133 -0.14015455
+v -0.06831618 0.02993097 -0.04211005
+f 1 2 6
+f 1 6 12
+f 1 12 25
+f 1 25 45
+f 1 45 60
+f 1 60 71
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+f 1 67 51
+f 1 51 31
+f 1 31 19
+f 1 19 8
+f 1 8 3
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+f 1 4 5
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+f 3 8 9
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+f 5 11 7
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+f 7 13 14
+f 7 14 15
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+f 7 16 17
+f 7 17 18
+f 7 18 12
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+f 8 20 21
+f 8 21 9
+f 9 21 10
+f 10 22 23
+f 10 21 22
+f 11 23 42
+f 11 42 24
+f 11 24 13
+f 12 18 25
+f 13 24 14
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+f 18 30 25
+f 19 31 20
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+f 20 22 21
+f 20 31 37
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+f 20 40 32
+f 22 36 23
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+f 23 41 42
+f 24 42 58
+f 24 58 43
+f 24 43 44
+f 24 44 26
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+f 25 46 61
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+f 26 47 27
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+f 27 48 28
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+f 30 50 61
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+f 32 40 39
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+f 32 57 69
+f 32 69 52
+f 33 53 54
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+f 34 55 35
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+f 36 42 41
+f 37 51 38
+f 38 51 39
+f 39 51 57
+f 42 56 59
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+f 45 61 60
+f 47 62 49
+f 47 49 48
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+f 49 64 65
+f 49 65 50
+f 50 65 66
+f 50 66 60
+f 50 60 61
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+f 54 68 55
+f 55 68 70
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+f 57 68 69
+f 67 71 68
+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_18.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea631462371a1c00481e73a30d6522ac712b48b2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_18.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.02418742 -0.06289066 0.13180369
+v 0.02418742 -0.06315014 0.13180369
+v 0.02464740 -0.05402441 0.13180372
+v 0.02670053 -0.05371720 0.09697534
+v 0.03189593 -0.06362982 0.13180369
+v 0.02670053 -0.06063976 0.09697532
+v 0.03354373 -0.05147249 0.13180373
+v 0.03337807 -0.05371720 0.09697534
+v 0.03398608 -0.06352269 0.13180369
+v 0.03337807 -0.06063976 0.09697532
+v 0.04219157 -0.05562531 0.13180372
+v 0.03956215 -0.06008403 0.13180370
+v 0.04219157 -0.05576100 0.13180372
+v 0.04027766 -0.05946390 0.13180370
+f 1 2 5
+f 1 5 9
+f 1 9 12
+f 1 12 14
+f 1 14 13
+f 1 13 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 7 4
+f 4 8 10
+f 4 10 6
+f 4 7 8
+f 5 6 10
+f 5 10 9
+f 7 11 8
+f 8 11 13
+f 8 13 10
+f 9 10 12
+f 10 13 14
+f 10 14 12
+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_19.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a5a63025ec2d3d7bc701bc375a1e8a9f72b9fb0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_19.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00267565 -0.04781989 0.20181533
+v -0.00256070 -0.04781989 0.20181533
+v 0.00359604 -0.04781988 0.19963376
+v 0.00435263 -0.02078815 0.21724723
+v 0.00149006 -0.02078817 0.22317661
+v 0.00093107 -0.03962782 0.20906628
+v -0.00069652 -0.03962782 0.20906628
+v -0.00125291 -0.02078817 0.22317661
+v -0.00314569 -0.04319464 0.20372422
+v -0.01806695 -0.04781977 0.16746960
+v 0.00513263 -0.03392032 0.20360540
+v 0.00849439 -0.04781977 0.16928059
+v 0.00488823 -0.02078814 0.21378609
+v -0.00475768 -0.02078814 0.21378609
+v -0.01806695 -0.04781971 0.15175113
+v -0.01806695 -0.02800899 0.17325923
+v 0.00849439 -0.04781971 0.15230352
+v 0.00849439 -0.02078801 0.17916067
+v -0.01806695 -0.02078799 0.17536391
+v -0.01806695 -0.02078794 0.15930980
+v 0.00849439 -0.02078794 0.15994610
+f 1 2 10
+f 1 10 15
+f 1 15 17
+f 1 17 12
+f 1 12 3
+f 1 3 4
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+f 1 5 6
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+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 3 11 4
+f 3 12 11
+f 4 13 18
+f 4 18 21
+f 4 21 20
+f 4 20 19
+f 4 19 14
+f 4 14 8
+f 4 8 5
+f 4 11 13
+f 5 8 7
+f 5 7 6
+f 8 14 10
+f 8 10 9
+f 10 14 16
+f 10 16 19
+f 10 19 20
+f 10 20 15
+f 11 12 13
+f 12 17 21
+f 12 21 18
+f 12 18 13
+f 14 19 16
+f 15 20 17
+f 17 20 21
+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_2.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91a5b2a02291db6a28167926a5aa238f557aa262
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_2.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.06837737 0.03160092 -0.13410986
+v -0.06518099 0.03647949 -0.13410985
+v -0.06805633 0.03088654 -0.14134487
+v -0.06811217 0.02993134 -0.14014952
+v -0.06837737 0.02993132 -0.13410987
+v -0.06831455 0.03166768 -0.04211004
+v -0.06539734 0.03654625 -0.04211003
+v -0.03519232 0.06627572 -0.09439064
+v -0.03513649 0.06605878 -0.13410974
+v -0.03927502 0.05996850 -0.14405001
+v -0.05947917 0.04019765 -0.14224657
+v -0.04024510 0.06154694 -0.04210993
+v -0.06805633 0.02993135 -0.14134487
+v -0.06245919 0.03474677 -0.14509866
+v -0.05900460 0.03210226 -0.14920899
+v -0.06831455 0.02993098 -0.04211005
+v -0.03032099 0.06916116 -0.13410973
+v -0.03658811 0.06513877 -0.04210992
+v -0.03519930 0.06631121 -0.08446088
+v -0.02983246 0.06893621 -0.14103016
+v -0.03845848 0.05873309 -0.14902015
+v -0.05892783 0.02993138 -0.14919850
+v -0.03362903 0.05975538 -0.14919839
+v -0.02398408 0.05983826 -0.14921937
+v -0.02398408 0.05638064 -0.14921938
+v -0.05582916 0.03210226 -0.14920899
+v -0.04614932 0.02993098 -0.04211005
+v -0.00296339 0.06991097 -0.09439062
+v -0.00274704 0.06979259 -0.10430991
+v -0.00222362 0.06946901 -0.12417995
+v -0.02567299 0.06916116 -0.13410973
+v -0.03520628 0.06634274 -0.07452062
+v -0.03525513 0.06642551 -0.04210992
+v -0.03170981 0.06841878 -0.04210991
+v -0.03043963 0.06911741 -0.04210991
+v -0.00373108 0.07025022 -0.04210990
+v -0.02675473 0.06893621 -0.14103016
+v -0.05595478 0.02993138 -0.14919850
+v -0.02371888 0.06515889 -0.14422825
+v -0.01911973 0.05884755 -0.14904111
+v -0.01911973 0.05861073 -0.14904111
+v 0.00291989 0.04192610 -0.04211001
+v -0.04633775 0.02993116 -0.08949404
+v 0.00291989 0.06991097 -0.09439062
+v 0.00291989 0.06980443 -0.10358642
+v 0.00275937 0.06946901 -0.12417995
+v 0.00291989 0.07025022 -0.04210990
+v 0.00178232 0.06908616 -0.13049223
+v -0.05444732 0.02993137 -0.14801365
+v 0.00291989 0.04615768 -0.13185542
+v 0.00291989 0.05384658 -0.13566163
+v 0.00291989 0.06736919 -0.13137301
+v 0.00291989 0.06581801 -0.13218040
+v 0.00291989 0.06422339 -0.13299827
+v 0.00291989 0.04196956 -0.05466116
+v -0.04656806 0.02993130 -0.12911876
+v 0.00291989 0.06979259 -0.10430991
+v 0.00291989 0.06954398 -0.11917836
+v 0.00291989 0.06940980 -0.12417996
+v -0.04923403 0.02993136 -0.14387187
+v 0.00291989 0.04290528 -0.12418005
+v 0.00291989 0.04197747 -0.05676874
+v -0.04669368 0.02993132 -0.13383725
+v 0.00291989 0.04219470 -0.09649832
+v 0.00291989 0.04213152 -0.08656855
+v 0.00291989 0.04207227 -0.07663878
+v 0.00291989 0.04201698 -0.06670900
+v -0.04716127 0.02993135 -0.14182720
+v 0.00291989 0.04247107 -0.11635786
+v 0.00291989 0.04227368 -0.10642808
+v 0.00291989 0.04239607 -0.11425027
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+f 17 28 29
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+f 17 36 28
+f 18 33 19
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+f 31 46 37
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+f 40 53 54
+f 40 54 51
+f 41 51 50
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+f 42 66 65
+f 42 65 64
+f 42 64 70
+f 42 70 71
+f 42 71 69
+f 42 69 61
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+f 42 58 57
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+f 42 56 55
+f 45 57 46
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+f 48 59 52
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+f 50 61 60
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+f 56 67 62
+f 60 61 68
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+f 63 70 64
+f 68 69 71
+f 68 71 70
+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_20.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcc30da4dd608fb871c2dbdabb4e9501f15b1c9d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_20.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00149006 -0.02078817 0.22317979
+v -0.00125291 -0.02078817 0.22317979
+v 0.00435263 -0.02078815 0.21725924
+v 0.00168766 -0.02020102 0.24333459
+v -0.00475768 -0.02078814 0.21378714
+v -0.00143231 -0.02020102 0.24333459
+v 0.00488823 -0.02078814 0.21378714
+v 0.00567082 -0.01441521 0.24333461
+v 0.00079327 -0.00981268 0.29837642
+v 0.00065547 -0.01957065 0.24886783
+v -0.01806695 -0.02078799 0.17537268
+v -0.00040272 -0.01957065 0.24886783
+v -0.00055612 -0.00981268 0.29837642
+v 0.00849439 -0.02078801 0.17916295
+v 0.00481803 -0.00466156 0.29299538
+v 0.00249365 -0.00466158 0.29962143
+v -0.01806695 -0.02078794 0.15931249
+v -0.00480708 -0.00466156 0.29299538
+v -0.01806695 -0.00407837 0.21333071
+v -0.00237610 -0.00466158 0.29962143
+v 0.00849439 -0.02078794 0.15994880
+v 0.00849439 -0.00908266 0.21355202
+v 0.00738680 -0.00466141 0.25326679
+v 0.00396524 0.00500160 0.29299542
+v 0.00262625 0.00340833 0.29975979
+v 0.00713201 0.00508379 0.25326683
+v -0.01806695 0.02332239 0.15845501
+v -0.00251390 0.00340833 0.29975979
+v -0.00389189 0.00500160 0.29299542
+v -0.01806695 0.00409085 0.21333074
+v 0.00849439 0.02332238 0.15976915
+v 0.00849439 -0.00466562 0.22340118
+v 0.00849439 -0.00459222 0.22340118
+v 0.00849439 0.00495437 0.22333206
+v 0.00766760 0.00508383 0.24333468
+v 0.00135226 0.02042918 0.24127362
+v 0.00849439 0.02332232 0.17768298
+v 0.00414464 0.02332218 0.21384264
+v -0.01806695 0.02332233 0.17445986
+v -0.00112551 0.02042918 0.24127362
+v 0.00849439 0.00506663 0.22327673
+v 0.00292525 0.02332217 0.21725941
+v -0.00382429 0.02332218 0.21512912
+v -0.00274790 0.02332217 0.21725941
+f 1 2 5
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+f 1 21 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
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+f 3 7 4
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+f 4 7 8
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+f 11 39 27
+f 11 27 17
+f 13 20 18
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+f 15 25 16
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+f 15 26 24
+f 16 25 28
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+f 18 20 28
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+f 18 29 30
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+f 21 27 31
+f 22 32 23
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+f 23 33 34
+f 23 34 35
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+f 24 36 25
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+f 25 36 40
+f 25 40 28
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+f 27 43 44
+f 27 44 42
+f 27 42 38
+f 27 38 37
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+f 28 40 29
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+f 29 39 30
+f 34 41 35
+f 35 41 37
+f 36 38 42
+f 36 42 44
+f 36 44 40
+f 39 40 43
+f 40 44 43
+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_21.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12b6fda15085947f288322f1a00976e21e6afd4f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_21.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.04999122 -0.01795711 0.16680331
+v 0.05937417 -0.01795711 0.16511351
+v 0.04999122 -0.00184366 0.20033612
+v 0.04999122 -0.01795705 0.15014824
+v 0.06287847 -0.01795710 0.16427369
+v 0.05036953 -0.00180161 0.20017422
+v 0.04999122 0.00211289 0.20033614
+v 0.06760728 -0.01795710 0.16235117
+v 0.06981986 -0.01795709 0.16136966
+v 0.04999122 0.01784468 0.15042157
+v 0.05683306 0.00201164 0.09697555
+v 0.05683306 -0.00180824 0.09697553
+v 0.05572553 -0.01795700 0.13605315
+v 0.06001381 -0.00209594 0.19088542
+v 0.05036953 0.00207084 0.20017424
+v 0.06979746 0.01784464 0.16133946
+v 0.06287847 0.01784463 0.16421312
+v 0.04999122 0.01784462 0.16679333
+v 0.07258248 -0.01795707 0.15393255
+v 0.06850575 -0.00115670 0.18019017
+v 0.05039690 0.01784468 0.14850919
+v 0.06287847 0.00413886 0.09697556
+v 0.05328397 0.01784471 0.14115302
+v 0.05536962 0.01784473 0.13598246
+v 0.05841348 -0.00247058 0.09697553
+v 0.06287847 -0.00426838 0.09697552
+v 0.06291082 -0.01795699 0.13312890
+v 0.06001381 0.00234072 0.19088544
+v 0.07198765 0.01784466 0.15586533
+v 0.06850575 0.00147165 0.18019018
+v 0.07355313 -0.01441405 0.15393257
+v 0.07279403 -0.01795705 0.15033037
+v 0.07499417 -0.00466109 0.15393260
+v 0.06291082 0.01784474 0.13278501
+v 0.06834398 0.01784474 0.13438374
+v 0.06923498 0.00233406 0.09697555
+v 0.05988687 0.01784474 0.13344272
+v 0.06457089 -0.00375322 0.09697553
+v 0.07038234 -0.01795700 0.13593173
+v 0.07336647 0.01483782 0.15393267
+v 0.07253270 0.01784466 0.15393269
+v 0.07495684 0.00508486 0.15393264
+v 0.07410068 -0.01441401 0.14401644
+v 0.07314247 -0.01795703 0.14401642
+v 0.07540981 -0.00466105 0.14401647
+v 0.07541479 0.00508490 0.14401651
+v 0.07039479 0.01784473 0.13584081
+v 0.06923498 -0.00224980 0.09697553
+v 0.07313252 0.01784470 0.14401656
+v 0.07398868 0.01483786 0.14401654
+v 0.07245057 -0.01795702 0.14131478
+v 0.07296327 0.01784469 0.14707235
+f 1 2 3
+f 1 3 7
+f 1 7 18
+f 1 18 10
+f 1 10 4
+f 1 4 13
+f 1 13 27
+f 1 27 39
+f 1 39 51
+f 1 51 44
+f 1 44 32
+f 1 32 19
+f 1 19 9
+f 1 9 8
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+f 1 5 2
+f 2 5 3
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+f 4 10 11
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+f 4 12 13
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+f 40 52 41
+f 42 46 50
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+f 44 51 48
+f 45 48 46
+f 49 52 50
+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_22.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eb48190c0a0817c415c6a7538b6d57f34536ff5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_22.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.00849439 -0.04337145 0.17067125
+v 0.00849439 -0.04337139 0.15433585
+v 0.00849439 -0.06317470 0.16746419
+v 0.04357537 -0.04367300 0.16476327
+v 0.04386930 -0.04337143 0.16475565
+v 0.00849439 -0.05728449 0.13554287
+v 0.04329175 -0.04337132 0.13506739
+v 0.00849439 -0.07176322 0.16377025
+v 0.03334449 -0.06325321 0.16110732
+v 0.04111047 -0.06005528 0.16038833
+v 0.04402916 -0.05392959 0.16189483
+v 0.03392720 -0.05342384 0.16447790
+v 0.05374437 -0.04415047 0.16190628
+v 0.05370311 -0.04337142 0.16210029
+v 0.00849439 -0.06317456 0.13185655
+v 0.02465031 -0.05402686 0.13181092
+v 0.05378046 -0.04337131 0.13423046
+v 0.03354560 -0.05147292 0.13181093
+v 0.00849439 -0.07507107 0.15394009
+v 0.01462570 -0.07405954 0.15394010
+v 0.02427903 -0.06942917 0.16030840
+v 0.02973481 -0.06837994 0.15932311
+v 0.04270904 -0.06124585 0.15394015
+v 0.04753055 -0.05751703 0.15394016
+v 0.05087209 -0.05101439 0.16051008
+v 0.05535325 -0.04337141 0.16150683
+v 0.02419136 -0.06289184 0.13181089
+v 0.02419136 -0.06314944 0.13181089
+v 0.03189546 -0.06363007 0.13181089
+v 0.00849439 -0.06446568 0.13216088
+v 0.05637943 -0.04337132 0.13490000
+v 0.04218822 -0.05576091 0.13181092
+v 0.04218822 -0.05562582 0.13181092
+v 0.00849439 -0.07546370 0.14401103
+v 0.01462570 -0.07455270 0.14401104
+v 0.02427903 -0.07133910 0.15394011
+v 0.03055988 -0.06881658 0.15394012
+v 0.03538139 -0.06612127 0.15394013
+v 0.04304423 -0.06151911 0.14401108
+v 0.04787089 -0.05784997 0.14401110
+v 0.03586096 -0.06639453 0.14401107
+v 0.05251192 -0.05263846 0.15394018
+v 0.05733858 -0.04774105 0.15394019
+v 0.05898356 -0.04337140 0.15827324
+v 0.03398908 -0.06352326 0.13181089
+v 0.00849439 -0.07173798 0.13423036
+v 0.06117516 -0.04337135 0.14401115
+v 0.05131557 -0.05146037 0.13665753
+v 0.04027509 -0.05946145 0.13181090
+v 0.00849439 -0.07288145 0.13718624
+v 0.01462570 -0.07126678 0.13551239
+v 0.02427903 -0.06991285 0.13660040
+v 0.03037424 -0.06872228 0.13795472
+v 0.02427903 -0.07182284 0.14401105
+v 0.03104461 -0.06907413 0.14401106
+v 0.04099187 -0.06000178 0.13407823
+v 0.05284195 -0.05297455 0.14401112
+v 0.05766861 -0.04808656 0.14401113
+v 0.06061824 -0.04337139 0.15394021
+v 0.03956346 -0.06008344 0.13181090
+v 0.06067496 -0.04337138 0.15297013
+f 1 2 6
+f 1 6 15
+f 1 15 30
+f 1 30 46
+f 1 46 50
+f 1 50 34
+f 1 34 19
+f 1 19 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 26
+f 1 26 44
+f 1 44 59
+f 1 59 61
+f 1 61 47
+f 1 47 31
+f 1 31 17
+f 1 17 7
+f 1 7 2
+f 2 7 6
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
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+f 4 11 13
+f 4 13 5
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+f 6 7 16
+f 6 16 15
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+f 8 19 20
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+f 16 32 49
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+f 16 29 28
+f 16 28 27
+f 17 31 32
+f 17 32 33
+f 17 33 18
+f 19 34 35
+f 19 35 20
+f 20 35 36
+f 20 36 22
+f 20 22 21
+f 22 37 38
+f 22 38 23
+f 22 36 37
+f 23 39 40
+f 23 40 24
+f 23 38 41
+f 23 41 39
+f 24 40 42
+f 24 42 25
+f 25 42 43
+f 25 43 44
+f 25 44 26
+f 29 45 46
+f 29 46 30
+f 31 47 48
+f 31 48 49
+f 31 49 32
+f 34 50 35
+f 35 51 52
+f 35 52 53
+f 35 53 54
+f 35 54 36
+f 35 50 51
+f 36 54 37
+f 37 55 41
+f 37 41 38
+f 37 54 55
+f 39 41 53
+f 39 53 56
+f 39 56 40
+f 40 48 57
+f 40 57 42
+f 40 56 48
+f 41 55 53
+f 42 57 58
+f 42 58 43
+f 43 58 59
+f 43 59 44
+f 45 60 53
+f 45 53 52
+f 45 52 46
+f 46 52 51
+f 46 51 50
+f 47 61 58
+f 47 58 48
+f 48 58 57
+f 48 56 49
+f 49 56 60
+f 53 60 56
+f 53 55 54
+f 58 61 59
+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_23.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abff5a17cfd829a7326bf7b675c200ef083d1339
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_23.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.00467968 -0.07598809 0.14400804
+v -0.01432819 -0.07463978 0.14400805
+v -0.00251910 -0.06994671 0.09697528
+v 0.00298505 -0.06994671 0.09697528
+v 0.00497143 -0.07598532 0.14400804
+v -0.00467968 -0.07567379 0.15393183
+v -0.01806695 -0.07363612 0.14400805
+v -0.01432819 -0.07418210 0.15393184
+v -0.01806695 -0.07320878 0.15393184
+v -0.01806695 -0.06812427 0.13410481
+v -0.00367089 -0.06496429 0.09697530
+v -0.01806695 -0.07284477 0.14110377
+v -0.01806695 -0.07080436 0.13585968
+v 0.00463083 -0.06317482 0.09697531
+v 0.00849439 -0.07173631 0.13422795
+v 0.00849439 -0.07288059 0.13718352
+v 0.00849439 -0.07546144 0.14400804
+v 0.00497143 -0.07565449 0.15393183
+v 0.00169546 -0.06907295 0.18060395
+v -0.00153891 -0.06907295 0.18060395
+v -0.01806695 -0.07037431 0.16163893
+v -0.01806695 -0.06320252 0.13290412
+v -0.00404529 -0.06317482 0.09697531
+v 0.00179166 -0.05734592 0.09697533
+v 0.00849439 -0.04782246 0.15230019
+v 0.00849439 -0.05728264 0.13555185
+v 0.00849439 -0.06317494 0.13185735
+v 0.00849439 -0.06446536 0.13216522
+v 0.00849439 -0.07507271 0.15393183
+v 0.00244425 -0.06058055 0.19129745
+v 0.00849439 -0.07176124 0.16376325
+v -0.00232150 -0.06058055 0.19129745
+v -0.01806695 -0.06317506 0.16455350
+v -0.00215770 -0.05101833 0.20049262
+v -0.00256070 -0.04782264 0.20180623
+v -0.01806695 -0.05961254 0.13371486
+v -0.00208230 -0.05886518 0.09697532
+v -0.01806695 -0.05595087 0.13588025
+v -0.01806695 -0.04782246 0.15173576
+v -0.00138031 -0.05734592 0.09697533
+v 0.00849439 -0.04782252 0.16927427
+v 0.00403284 -0.05392999 0.19423252
+v 0.00227005 -0.05101833 0.20049262
+v 0.00849439 -0.06317508 0.16745778
+v 0.00359604 -0.04782263 0.19963058
+v -0.01806695 -0.04782252 0.16745783
+v 0.00267565 -0.04782264 0.20180623
+v 0.00849439 -0.06294898 0.16748856
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 9
+f 2 9 7
+f 3 10 11
+f 3 11 23
+f 3 23 37
+f 3 37 40
+f 3 40 24
+f 3 24 14
+f 3 14 4
+f 3 7 12
+f 3 12 13
+f 3 13 10
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 5 17 18
+f 5 18 6
+f 6 18 19
+f 6 19 20
+f 6 20 8
+f 7 9 21
+f 7 21 33
+f 7 33 46
+f 7 46 39
+f 7 39 38
+f 7 38 36
+f 7 36 22
+f 7 22 10
+f 7 10 13
+f 7 13 12
+f 8 20 9
+f 9 20 21
+f 10 22 23
+f 10 23 11
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 15 28 27
+f 15 27 26
+f 15 26 25
+f 15 25 41
+f 15 41 48
+f 15 48 44
+f 15 44 31
+f 15 31 29
+f 15 29 17
+f 15 17 16
+f 17 29 18
+f 18 29 19
+f 19 30 32
+f 19 32 20
+f 19 29 31
+f 19 31 30
+f 20 32 21
+f 21 32 34
+f 21 34 35
+f 21 35 33
+f 22 36 23
+f 23 36 38
+f 23 38 37
+f 24 39 25
+f 24 40 39
+f 25 39 46
+f 25 46 35
+f 25 35 47
+f 25 47 45
+f 25 45 41
+f 30 42 43
+f 30 43 34
+f 30 34 32
+f 30 31 42
+f 31 44 45
+f 31 45 42
+f 33 35 46
+f 34 43 47
+f 34 47 35
+f 37 38 40
+f 38 39 40
+f 41 45 48
+f 42 45 43
+f 43 45 47
+f 44 48 45
+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_24.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9405eea0bce4f2ffa84f68cb4819fe98db6941f4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_24.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00850072 -0.01795716 0.18088121
+v 0.00850072 -0.01795709 0.16016110
+v 0.00850072 -0.04337145 0.17066759
+v 0.04386991 -0.04337143 0.16475373
+v 0.05370417 -0.04337142 0.16210187
+v 0.05322322 -0.03391817 0.16448475
+v 0.06287396 -0.01795710 0.16428303
+v 0.00850072 -0.04337139 0.15433843
+v 0.05572292 -0.01795700 0.13604930
+v 0.05364722 -0.02456431 0.13180725
+v 0.05534955 -0.04337141 0.16150616
+v 0.05979205 -0.04121706 0.16041084
+v 0.06295623 -0.03325394 0.16104020
+v 0.06760757 -0.01795710 0.16235657
+v 0.04329402 -0.04337132 0.13506917
+v 0.06291193 -0.01795699 0.13312840
+v 0.06285497 -0.02411155 0.13180725
+v 0.05198286 -0.03297023 0.13180722
+v 0.05898202 -0.04337140 0.15827299
+v 0.06062107 -0.04337139 0.15394449
+v 0.06100077 -0.04286141 0.15394449
+v 0.06795563 -0.02956219 0.15923388
+v 0.06896817 -0.02416887 0.16025717
+v 0.06981617 -0.01795709 0.16137653
+v 0.05198286 -0.03394292 0.13180722
+v 0.05378011 -0.04337131 0.13422845
+v 0.07037939 -0.01795700 0.13593399
+v 0.06285497 -0.02443495 0.13180725
+v 0.06067802 -0.04337138 0.15297408
+v 0.06117163 -0.04337135 0.14400961
+v 0.06129187 -0.04320716 0.14400961
+v 0.06612040 -0.03596796 0.14400964
+v 0.06582297 -0.03535105 0.15394452
+v 0.06841760 -0.03047765 0.15394454
+v 0.07087933 -0.02416885 0.15394456
+v 0.07258166 -0.01795707 0.15394458
+v 0.06141844 -0.03437578 0.13180721
+v 0.06272208 -0.03437578 0.13180721
+v 0.05638106 -0.04337132 0.13490102
+v 0.07244876 -0.01795702 0.14130979
+v 0.06955670 -0.02416878 0.13656811
+v 0.06018441 -0.04167719 0.13575616
+v 0.06837963 -0.03038555 0.13791806
+v 0.06873402 -0.03109207 0.14400966
+v 0.07146787 -0.02416881 0.14400968
+v 0.07279049 -0.01795705 0.15033671
+v 0.07313856 -0.01795703 0.14400970
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 14
+f 1 14 24
+f 1 24 36
+f 1 36 46
+f 1 46 47
+f 1 47 40
+f 1 40 27
+f 1 27 16
+f 1 16 9
+f 1 9 2
+f 2 9 10
+f 2 10 8
+f 3 8 15
+f 3 15 26
+f 3 26 39
+f 3 39 30
+f 3 30 29
+f 3 29 20
+f 3 20 19
+f 3 19 11
+f 3 11 5
+f 3 5 4
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 8 10 15
+f 9 16 10
+f 10 16 17
+f 10 17 28
+f 10 28 38
+f 10 38 37
+f 10 37 25
+f 10 25 18
+f 10 18 15
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 15 18 25
+f 15 25 26
+f 16 27 17
+f 17 27 28
+f 20 29 21
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 22
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 23 36 24
+f 25 37 26
+f 26 37 38
+f 26 38 39
+f 27 40 41
+f 27 41 38
+f 27 38 28
+f 30 39 42
+f 30 42 31
+f 31 42 43
+f 31 43 32
+f 32 43 44
+f 32 44 33
+f 33 44 34
+f 34 44 45
+f 34 45 35
+f 35 45 36
+f 36 45 46
+f 38 42 39
+f 38 41 43
+f 38 43 42
+f 40 47 43
+f 40 43 41
+f 43 47 45
+f 43 45 44
+f 45 47 46
+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_25.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57e3c026e064133a60e1a5720134ab4b67867170
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_25.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.03976908 0.05419462 0.13184749
+v -0.03233580 0.04762984 0.13184746
+v -0.03408353 0.06331624 0.13184752
+v -0.03278898 0.06075950 0.09697576
+v -0.03278898 0.05395833 0.09697574
+v -0.02844285 0.04870455 0.12413916
+v -0.02854493 0.04877918 0.13184747
+v -0.02927341 0.04880723 0.11604167
+v -0.02858050 0.04880723 0.11604167
+v -0.02398072 0.06351687 0.13184752
+v -0.02664408 0.06075950 0.09697576
+v -0.02664408 0.05395833 0.09697574
+v -0.02476488 0.05286020 0.13184748
+v -0.02396989 0.06332246 0.13184752
+v -0.02425912 0.05399554 0.13184749
+f 1 2 7
+f 1 7 13
+f 1 13 15
+f 1 15 14
+f 1 14 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 5 8
+f 2 8 9
+f 2 9 6
+f 3 10 4
+f 4 11 12
+f 4 12 5
+f 4 10 11
+f 5 12 9
+f 5 9 8
+f 6 13 7
+f 6 9 13
+f 9 12 13
+f 10 14 11
+f 11 14 12
+f 12 14 15
+f 12 15 13
+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_26.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdb002ef4ab2defa9da3a81dc03c77368a124e53
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_26.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.06285331 0.02446737 0.13162088
+v 0.06261360 0.03460031 0.13162092
+v 0.06248513 0.02446737 0.13162088
+v 0.06038043 0.02686705 0.09697902
+v 0.06038043 0.03323784 0.09697904
+v 0.05262457 0.03674153 0.13162092
+v 0.05283447 0.02553558 0.13162088
+v 0.05346301 0.02686705 0.09697902
+v 0.05346301 0.03323784 0.09697904
+v 0.05113579 0.03633300 0.13162092
+f 1 2 6
+f 1 6 10
+f 1 10 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 8 9
+f 4 9 5
+f 5 9 6
+f 6 9 10
+f 7 10 8
+f 8 10 9
+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_27.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9893f8ad3666ddb9040ee5d5134f61f3f814b564
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_27.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.02430162 0.06345665 0.13162102
+v 0.02476510 0.05579680 0.13162099
+v 0.03396395 0.06372313 0.13162102
+v 0.02676372 0.06091507 0.09697914
+v 0.02669481 0.05384756 0.09697912
+v 0.02489087 0.05381848 0.13162099
+v 0.04013384 0.05975924 0.13162101
+v 0.03290261 0.06091507 0.09697914
+v 0.02730301 0.05254558 0.09697911
+v 0.02907593 0.04895526 0.12106629
+v 0.03170171 0.05130140 0.13162098
+v 0.02903285 0.04892783 0.09697910
+v 0.02903975 0.04893360 0.10427783
+v 0.02905525 0.04894225 0.11421186
+v 0.04190332 0.05632976 0.13162100
+v 0.03299048 0.05571582 0.09697912
+v 0.02915174 0.04895526 0.12106629
+v 0.03319723 0.05151864 0.13162098
+v 0.02921721 0.04892783 0.09697910
+v 0.02920687 0.04893360 0.10427783
+v 0.02918964 0.04894225 0.11421186
+v 0.03301805 0.05384756 0.09697912
+v 0.04149325 0.05490757 0.13162099
+v 0.03023375 0.05023126 0.09697910
+f 1 2 6
+f 1 6 11
+f 1 11 18
+f 1 18 23
+f 1 23 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 16
+f 4 16 22
+f 4 22 24
+f 4 24 19
+f 4 19 12
+f 4 12 9
+f 4 9 5
+f 5 9 6
+f 6 10 11
+f 6 9 12
+f 6 12 13
+f 6 13 14
+f 6 14 10
+f 7 15 8
+f 8 15 16
+f 10 17 11
+f 10 14 21
+f 10 21 17
+f 11 17 18
+f 12 19 20
+f 12 20 13
+f 13 20 21
+f 13 21 14
+f 15 22 16
+f 15 23 22
+f 17 23 18
+f 17 21 23
+f 19 24 23
+f 19 23 20
+f 20 23 21
+f 22 23 24
+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_28.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0b0e1a95b6e03f09c5440b739834d4a65a8b546
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_28.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00292525 0.02332218 0.21725214
+v -0.00274790 0.02332218 0.21725214
+v 0.00414464 0.02332219 0.21383876
+v 0.00332564 0.04353451 0.20364457
+v 0.00230385 0.05050703 0.20064399
+v 0.00081927 0.03990985 0.20898412
+v -0.00382429 0.02332219 0.21511633
+v -0.00054832 0.03990985 0.20898412
+v -0.00209270 0.05050703 0.20064399
+v -0.00310149 0.04353451 0.20364457
+v 0.00531982 0.03434517 0.20360524
+v 0.00849439 0.02332233 0.17767404
+v 0.00410824 0.05050706 0.19369931
+v -0.01806695 0.02332234 0.17446377
+v -0.01806695 0.05050716 0.16689025
+v 0.00849439 0.04980458 0.17009396
+v 0.00849439 0.05050715 0.16976639
+v 0.00849439 0.02332239 0.15976858
+v -0.01806695 0.02332240 0.15845826
+v -0.01806695 0.05050722 0.15032130
+v 0.00849439 0.05050722 0.15104197
+f 1 2 7
+f 1 7 14
+f 1 14 19
+f 1 19 18
+f 1 18 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 7
+f 3 11 4
+f 3 12 11
+f 4 11 13
+f 4 13 5
+f 5 13 17
+f 5 17 21
+f 5 21 20
+f 5 20 15
+f 5 15 9
+f 5 9 8
+f 5 8 6
+f 7 10 15
+f 7 15 14
+f 9 15 10
+f 11 12 16
+f 11 16 17
+f 11 17 13
+f 12 18 21
+f 12 21 17
+f 12 17 16
+f 14 15 20
+f 14 20 19
+f 18 19 21
+f 19 20 21
+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_29.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c37280331dfc4805d4c35217858697cc2a7b4185
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_29.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.01807253 0.00858965 0.18149419
+v -0.06258188 0.00858970 0.16772212
+v -0.01807253 0.00858973 0.16017757
+v -0.01807253 0.06359892 0.16437022
+v -0.03363516 0.05384209 0.16460548
+v -0.04328779 0.04409161 0.16500573
+v -0.05343199 0.04454263 0.16198057
+v -0.05292925 0.03434749 0.16464207
+v -0.07124579 0.00858972 0.16395748
+v -0.05949282 0.04158890 0.16038854
+v -0.06266008 0.03382663 0.16116161
+v -0.05058313 0.00858977 0.15028015
+v -0.01807253 0.05053270 0.15028031
+v -0.01807253 0.06817878 0.16244819
+v -0.03302070 0.06362434 0.16109449
+v -0.04368440 0.05432486 0.16195312
+v -0.05055520 0.05139019 0.16054443
+v -0.06888849 0.02459703 0.16038237
+v -0.07234064 0.00858973 0.16145487
+v -0.06781039 0.03022499 0.15938317
+v -0.05700704 0.04810618 0.15394408
+v -0.06076643 0.04322776 0.15394406
+v -0.07513365 0.00858977 0.15028015
+v -0.01807253 0.07348284 0.15028039
+v -0.01807253 0.07056083 0.16135731
+v -0.04072940 0.06039112 0.16034279
+v -0.02398253 0.06975412 0.16025725
+v -0.02940097 0.06877589 0.15929470
+v -0.04714214 0.05788206 0.15394411
+v -0.05218072 0.05300365 0.15394409
+v -0.07391031 0.01484022 0.15394395
+v -0.07487670 0.00858975 0.15394393
+v -0.06558715 0.03613882 0.15394403
+v -0.06835223 0.03126040 0.15394401
+v -0.07110055 0.02459705 0.15394399
+v -0.05536475 0.05005629 0.15028030
+v -0.05714110 0.04825230 0.15028030
+v -0.05951516 0.04517788 0.15028029
+v -0.06088932 0.04337388 0.15028028
+v -0.06571563 0.03636116 0.15028025
+v -0.07512807 0.00858977 0.15037487
+v -0.07416168 0.01484024 0.15028017
+v -0.02180399 0.07244745 0.15028039
+v -0.02398253 0.07163436 0.15394416
+v -0.01807253 0.07326050 0.15394417
+v -0.01807253 0.07253636 0.15638874
+v -0.04232141 0.06159804 0.15394413
+v -0.03025004 0.06922691 0.15394415
+v -0.03507077 0.06647645 0.15394414
+v -0.04730413 0.05802818 0.15028033
+v -0.05048258 0.05494741 0.15028032
+v -0.05231479 0.05314976 0.15028032
+v -0.06745847 0.03328674 0.15028024
+v -0.06846395 0.03148910 0.15028024
+v -0.07134074 0.02459707 0.15028021
+v -0.02398253 0.07183765 0.15028038
+v -0.02793743 0.07031950 0.15028038
+v -0.04248341 0.06172510 0.15028035
+v -0.03526069 0.06660352 0.15028036
+v -0.03983564 0.06352275 0.15028035
+v -0.03043438 0.06932222 0.15028037
+f 1 2 9
+f 1 9 19
+f 1 19 32
+f 1 32 41
+f 1 41 23
+f 1 23 12
+f 1 12 3
+f 1 3 13
+f 1 13 24
+f 1 24 45
+f 1 45 46
+f 1 46 25
+f 1 25 14
+f 1 14 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 7
+f 2 7 10
+f 2 10 11
+f 2 11 9
+f 3 12 13
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 6
+f 6 16 7
+f 7 16 17
+f 7 17 10
+f 9 18 19
+f 9 11 20
+f 9 20 18
+f 10 17 21
+f 10 21 22
+f 10 22 20
+f 10 20 11
+f 12 23 42
+f 12 42 55
+f 12 55 54
+f 12 54 53
+f 12 53 40
+f 12 40 39
+f 12 39 38
+f 12 38 37
+f 12 37 36
+f 12 36 52
+f 12 52 51
+f 12 51 50
+f 12 50 58
+f 12 58 60
+f 12 60 59
+f 12 59 61
+f 12 61 57
+f 12 57 56
+f 12 56 43
+f 12 43 24
+f 12 24 13
+f 14 25 15
+f 15 26 16
+f 15 25 27
+f 15 27 28
+f 15 28 26
+f 16 26 17
+f 17 26 29
+f 17 29 30
+f 17 30 21
+f 18 31 19
+f 18 20 31
+f 19 31 32
+f 20 22 33
+f 20 33 34
+f 20 34 35
+f 20 35 31
+f 21 30 36
+f 21 36 37
+f 21 37 38
+f 21 38 22
+f 22 38 39
+f 22 39 40
+f 22 40 33
+f 23 41 42
+f 24 43 44
+f 24 44 45
+f 25 46 27
+f 26 28 47
+f 26 47 29
+f 27 46 28
+f 28 46 45
+f 28 45 44
+f 28 44 48
+f 28 48 49
+f 28 49 47
+f 29 50 30
+f 29 47 50
+f 30 50 51
+f 30 51 52
+f 30 52 36
+f 31 35 42
+f 31 42 41
+f 31 41 32
+f 33 40 53
+f 33 53 34
+f 34 53 54
+f 34 54 55
+f 34 55 35
+f 35 55 42
+f 43 56 44
+f 44 56 57
+f 44 57 48
+f 47 58 50
+f 47 49 59
+f 47 59 60
+f 47 60 58
+f 48 61 59
+f 48 59 49
+f 48 57 61
+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_3.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78598b63db7ecaebe6f76a0f6717dc5100f4b5ab
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_3.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.00292359 0.05384920 -0.13565884
+v 0.01922397 0.05932878 -0.14917738
+v 0.01922397 0.05817797 -0.14917739
+v 0.00292359 0.04615677 -0.13185940
+v 0.00292359 0.06422591 -0.13299287
+v 0.02375329 0.06564297 -0.14430732
+v 0.02427136 0.06027161 -0.14931383
+v 0.00292359 0.06737053 -0.13137651
+v 0.02427136 0.05589853 -0.14931384
+v 0.02346466 0.05074343 -0.14503158
+v 0.00292359 0.04290674 -0.12417650
+v 0.02614377 0.04769030 -0.14238666
+v 0.02662483 0.06897338 -0.14116908
+v 0.03009213 0.06897338 -0.14116908
+v 0.03152789 0.06018288 -0.14925086
+v 0.00292359 0.06940869 -0.12417641
+v 0.03152789 0.05550198 -0.14925088
+v 0.03441793 0.05288977 -0.14783396
+v 0.00497363 0.04303986 -0.12417650
+v 0.00497363 0.04248520 -0.11424749
+v 0.00292359 0.04247135 -0.11635715
+v 0.03392207 0.04767921 -0.14277500
+v 0.02533708 0.06921738 -0.13411592
+v 0.03055098 0.06921738 -0.13411592
+v 0.03537634 0.06568453 -0.13411593
+v 0.03968734 0.06018007 -0.14213471
+v 0.03402568 0.06343286 -0.14495807
+v 0.00292359 0.06954455 -0.11918041
+v 0.03977984 0.05384922 -0.14258606
+v 0.03918408 0.04853053 -0.14069683
+v 0.03392207 0.04644517 -0.13411600
+v 0.00497363 0.04232988 -0.10431849
+v 0.00292359 0.04239647 -0.11424749
+v 0.03540224 0.06583413 -0.09438940
+v 0.00338614 0.06979406 -0.10431839
+v 0.00360447 0.06991050 -0.09438938
+v 0.00409663 0.07025416 -0.04210991
+v 0.03060279 0.06916436 -0.04210992
+v 0.03542814 0.06596981 -0.04210993
+v 0.04010178 0.06080952 -0.13411595
+v 0.04072345 0.05384919 -0.13411597
+v 0.00292359 0.06979406 -0.10431839
+v 0.03936910 0.04834471 -0.13411599
+v 0.00497363 0.04216065 -0.08446049
+v 0.00497363 0.04223002 -0.09438948
+v 0.03999817 0.04770934 -0.04210999
+v 0.03607202 0.04638106 -0.04211000
+v 0.00497363 0.04203857 -0.06459197
+v 0.00292359 0.04227443 -0.10642813
+v 0.04022020 0.06109481 -0.04210995
+v 0.00292359 0.06991050 -0.09438938
+v 0.00292359 0.07025416 -0.04210991
+v 0.04055323 0.05384885 -0.04210997
+v 0.00292359 0.04213293 -0.08657014
+v 0.00292359 0.04219396 -0.09648864
+v 0.00292359 0.04207188 -0.07664113
+v 0.00497363 0.04197469 -0.04211002
+v 0.00497363 0.04200248 -0.05466297
+v 0.00292359 0.04197753 -0.05677262
+v 0.00292359 0.04200806 -0.06459197
+v 0.00292359 0.04201639 -0.06670162
+v 0.00292359 0.04192756 -0.04211002
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 21
+f 1 21 33
+f 1 33 49
+f 1 49 55
+f 1 55 54
+f 1 54 56
+f 1 56 61
+f 1 61 60
+f 1 60 59
+f 1 59 62
+f 1 62 52
+f 1 52 51
+f 1 51 42
+f 1 42 28
+f 1 28 16
+f 1 16 8
+f 1 8 5
+f 1 5 2
+f 2 6 7
+f 2 7 9
+f 2 9 3
+f 2 5 8
+f 2 8 6
+f 3 9 10
+f 3 10 4
+f 4 10 12
+f 4 12 11
+f 6 13 14
+f 6 14 7
+f 6 8 13
+f 7 15 17
+f 7 17 9
+f 7 14 15
+f 8 16 13
+f 9 17 18
+f 9 18 10
+f 10 18 12
+f 11 19 20
+f 11 20 21
+f 11 12 22
+f 11 22 19
+f 12 18 22
+f 13 23 24
+f 13 24 14
+f 13 16 23
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 26
+f 15 26 18
+f 15 18 17
+f 16 28 23
+f 18 26 29
+f 18 29 30
+f 18 30 22
+f 19 22 31
+f 19 31 20
+f 20 32 33
+f 20 33 21
+f 20 31 32
+f 22 30 31
+f 23 28 24
+f 24 34 25
+f 24 28 35
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 34
+f 25 40 26
+f 25 34 40
+f 26 40 41
+f 26 41 29
+f 28 42 35
+f 29 41 30
+f 30 43 31
+f 30 41 43
+f 31 44 45
+f 31 45 32
+f 31 43 46
+f 31 46 47
+f 31 47 48
+f 31 48 44
+f 32 45 49
+f 32 49 33
+f 34 39 50
+f 34 50 40
+f 35 42 51
+f 35 51 36
+f 36 51 52
+f 36 52 37
+f 37 52 62
+f 37 62 57
+f 37 57 47
+f 37 47 46
+f 37 46 53
+f 37 53 50
+f 37 50 39
+f 37 39 38
+f 40 50 41
+f 41 50 53
+f 41 53 46
+f 41 46 43
+f 44 54 55
+f 44 55 45
+f 44 48 56
+f 44 56 54
+f 45 55 49
+f 47 57 58
+f 47 58 48
+f 48 58 59
+f 48 59 60
+f 48 60 61
+f 48 61 56
+f 57 62 58
+f 58 62 59
+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_30.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60c5e4e2e8c66d04ae6692947d17f9d1dfd98395
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_30.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.00849846 -0.00466507 0.22339134
+v 0.00849846 -0.00459564 0.22339134
+v 0.00849846 -0.00908465 0.21353749
+v 0.04998468 -0.00184558 0.20034799
+v 0.03888811 0.00007126 0.20864322
+v 0.00849846 0.00495650 0.22332618
+v 0.03888811 0.00033711 0.20864322
+v 0.00849846 -0.00475475 0.20461298
+v 0.04386775 -0.00330012 0.19008657
+v 0.04277922 -0.00406383 0.19280598
+v 0.04998468 -0.00389618 0.19360812
+v 0.04998468 0.00211346 0.20034801
+v 0.00849846 0.00506826 0.22326422
+v 0.00849846 0.00271797 0.20457061
+v 0.01864458 -0.00038083 0.19768400
+v 0.04386775 0.00347156 0.19008659
+v 0.04998468 -0.00313248 0.19008657
+v 0.04998468 0.00361208 0.19706122
+v 0.00849846 0.00821453 0.21353755
+v 0.00849846 0.00486682 0.20457062
+v 0.01864458 0.00075033 0.19768400
+v 0.04555336 0.00419969 0.19008660
+v 0.04998468 0.00410825 0.19008660
+v 0.04998468 0.00401342 0.19360814
+f 1 2 6
+f 1 6 13
+f 1 13 19
+f 1 19 20
+f 1 20 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 7
+f 1 7 2
+f 2 7 6
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 17
+f 4 17 23
+f 4 23 24
+f 4 24 18
+f 4 18 12
+f 4 12 7
+f 4 7 5
+f 6 7 13
+f 7 12 13
+f 8 14 15
+f 8 15 9
+f 9 16 22
+f 9 22 23
+f 9 23 17
+f 9 17 10
+f 9 15 21
+f 9 21 16
+f 10 17 11
+f 12 18 13
+f 13 18 19
+f 14 20 21
+f 14 21 15
+f 16 21 20
+f 16 20 22
+f 18 24 19
+f 19 24 23
+f 19 23 22
+f 19 22 20
+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_31.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1a8c542f0521242f8f777878e3082af32204cc1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_31.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.05010209 -0.01530870 0.15073229
+v -0.05010209 0.00858977 0.15086718
+v -0.01807008 -0.01530874 0.15988019
+v -0.05010209 -0.01530876 0.16715928
+v -0.05010209 0.00858970 0.16954286
+v -0.01807008 0.00858973 0.16018050
+v -0.01807008 -0.01530880 0.17755100
+v -0.01807008 -0.00408020 0.21332771
+v -0.03363297 -0.00506035 0.20360384
+v -0.04253545 -0.00289414 0.20359160
+v -0.05010209 -0.00355614 0.19687008
+v -0.04899516 0.00858970 0.17011269
+v -0.05010209 0.00408876 0.19373912
+v -0.03363297 0.00509931 0.20360388
+v -0.01807008 0.00858965 0.18149700
+v -0.01807008 0.00409103 0.21332774
+v -0.03363297 -0.00180170 0.20997002
+v -0.02398103 -0.00355620 0.21185105
+v -0.05010209 -0.00191630 0.20033195
+v -0.05010209 0.00221494 0.20033197
+v -0.04253545 0.00312492 0.20359162
+v -0.02398103 0.00366060 0.21185107
+v -0.03363297 0.00206285 0.20997004
+v -0.03882268 -0.00015950 0.20876908
+v -0.03882268 0.00056569 0.20876908
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 11
+f 1 11 19
+f 1 19 20
+f 1 20 13
+f 1 13 5
+f 1 5 2
+f 2 5 12
+f 2 12 15
+f 2 15 6
+f 2 6 3
+f 3 6 15
+f 3 15 16
+f 3 16 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 13 14
+f 5 14 12
+f 8 16 23
+f 8 23 17
+f 8 17 18
+f 8 18 9
+f 9 18 10
+f 10 18 17
+f 10 17 19
+f 10 19 11
+f 12 14 15
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 14 22 16
+f 14 16 15
+f 16 22 23
+f 17 23 25
+f 17 25 24
+f 17 24 19
+f 19 24 25
+f 19 25 20
+f 20 25 23
+f 20 23 21
+f 21 23 22
+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_32.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbad6175766a494c75578037545dfedd859830c6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_32.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.01807257 0.05053675 0.15027544
+v -0.01807257 0.05105415 0.14798659
+v -0.01807257 0.07348080 0.15027552
+v -0.05058637 0.00858977 0.15027528
+v -0.01807257 0.05421601 0.14003960
+v -0.01807257 0.07362772 0.14785500
+v -0.02180320 0.07244601 0.15027552
+v -0.07513324 0.00858977 0.15027528
+v -0.05562047 0.00858981 0.13813294
+v -0.01807257 0.05599176 0.13577031
+v -0.01807257 0.07383852 0.14400775
+v -0.02398314 0.07219053 0.14400775
+v -0.02398314 0.07183919 0.15027551
+v -0.07546473 0.00858979 0.14400751
+v -0.07416126 0.01484317 0.15027530
+v -0.07459387 0.01484319 0.14400753
+v -0.05670483 0.00858982 0.13552482
+v -0.02476972 0.05285549 0.13185270
+v -0.01807257 0.06359294 0.13284837
+v -0.01807257 0.07114300 0.13590383
+v -0.02398314 0.07031262 0.13658741
+v -0.03007913 0.06913730 0.13794919
+v -0.03075334 0.06949499 0.14400774
+v -0.02793851 0.07031896 0.15027551
+v -0.07138014 0.00858983 0.13422257
+v -0.07134081 0.02459695 0.15027534
+v -0.07176219 0.02459697 0.14400757
+v -0.06821697 0.03103563 0.13775965
+v -0.06955415 0.02459700 0.13637441
+v -0.07095314 0.01484322 0.13546352
+v -0.06258169 0.00858984 0.13185795
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+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_33.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cda47eac85e31d18c21341a9940c33b972dbed2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_33.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.00849439 0.07556960 0.14990628
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+v 0.00849439 0.01784456 0.18148519
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+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_34.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0e75b93a20c9808103a1cbcd385e6eb43bb5aa3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_34.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.04998468 -0.00312976 0.19007940
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+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_35.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4df463ae3449ebfa2297b50d10282d122ef14b53
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_35.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.06272702 0.02447500 0.13184738
+v -0.06272702 0.02438849 0.13184738
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+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_36.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f279b9da6b481c9035e9c179e5c79d5d4bf8885c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_36.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+f 38 49 50
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+f 45 53 46
+f 47 56 48
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+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_37.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff472dd86ba80f478845265e967862ca5e23f937
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_37.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.07595094 0.00508783 0.14401197
+v -0.07568526 -0.00466244 0.14401193
+v -0.07530826 -0.00466248 0.15393722
+v -0.07542465 0.00508779 0.15393726
+v -0.07512608 0.00858977 0.15036580
+v -0.07546261 0.00858979 0.14401198
+v -0.06897762 0.00246095 0.09697555
+v -0.06897762 -0.00232530 0.09697553
+v -0.07415195 -0.01441506 0.14401190
+v -0.07372181 -0.01441510 0.15393719
+v -0.06843362 -0.00137817 0.18055648
+v -0.06843362 0.00175651 0.18055650
+v -0.07488065 0.00858975 0.15393727
+v -0.07138134 0.00858983 0.13422832
+v -0.06428657 0.00377097 0.09697555
+v -0.06258625 -0.00425523 0.09697552
+v -0.07051094 -0.01530865 0.13574586
+v -0.07391410 -0.01530868 0.14401189
+v -0.07347637 -0.01530872 0.15393718
+v -0.07328154 -0.01530872 0.15453412
+v -0.05993710 -0.00216656 0.19103825
+v -0.07007321 -0.01530875 0.16207168
+v -0.05993710 0.00247698 0.19103827
+v -0.07124977 0.00858972 0.16395365
+v -0.07234283 0.00858973 0.16144448
+v -0.06391716 0.00858983 0.13216434
+v -0.06258625 0.00421778 0.09697556
+v -0.05658961 -0.00172175 0.09697553
+v -0.05617465 -0.01530865 0.13671715
+v -0.06172344 -0.01530864 0.13366165
+v -0.06259132 -0.01530864 0.13346942
+v -0.06987838 -0.01530865 0.13532093
+v -0.05023619 -0.00189992 0.20027555
+v -0.06258625 -0.01530876 0.16509683
+v -0.05010209 -0.00355614 0.19686594
+v -0.05010209 -0.00191630 0.20032614
+v -0.05023619 0.00219856 0.20027557
+v -0.05324717 0.00404432 0.19407351
+v -0.06258625 0.00858970 0.16771736
+v -0.06258625 0.00858984 0.13186082
+v -0.05815582 0.00256856 0.09697555
+v -0.05671106 0.00858982 0.13553349
+v -0.05658961 0.00196735 0.09697555
+v -0.05010209 -0.01530870 0.15072993
+v -0.05028174 -0.01530870 0.15015324
+v -0.05010209 -0.01530876 0.16715069
+v -0.05010209 0.00221494 0.20032616
+v -0.05010209 0.00408876 0.19373966
+v -0.05010209 0.00858970 0.16952840
+v -0.05010209 0.00858977 0.15086154
+f 1 2 3
+f 1 3 4
+f 1 4 5
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+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 10 11
+f 3 11 4
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+f 4 13 5
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+f 5 25 24
+f 5 24 39
+f 5 39 49
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+f 5 50 42
+f 5 42 40
+f 5 40 26
+f 5 26 14
+f 5 14 6
+f 6 14 7
+f 7 15 27
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+f 7 43 28
+f 7 28 16
+f 7 16 8
+f 7 14 15
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 10
+f 10 19 20
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+f 11 21 23
+f 11 23 12
+f 11 20 22
+f 11 22 21
+f 12 23 24
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+f 14 26 27
+f 14 27 15
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+f 16 32 17
+f 17 32 31
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+f 17 34 22
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+f 23 38 24
+f 24 38 39
+f 26 40 27
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+f 27 42 41
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+f 41 42 43
+f 42 50 43
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+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_38.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96e66fe54744bcb3ccd2aef9c9505e4f567f5203
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_38.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.01806695 0.06359362 0.13284857
+v -0.00412848 0.06359880 0.09697577
+v -0.01806695 0.05599664 0.13577114
+v -0.01806695 0.07114509 0.13590312
+v -0.00236830 0.07008883 0.09697580
+v -0.00161431 0.05762433 0.09697575
+v -0.01806695 0.05421995 0.14004340
+v -0.01806695 0.07384419 0.14401130
+v 0.00256645 0.07008883 0.09697580
+v -0.01432819 0.07488542 0.14401131
+v -0.00467968 0.07632849 0.14401131
+v 0.00185666 0.05762433 0.09697575
+v -0.01806695 0.05051241 0.15031306
+v -0.01806695 0.05105831 0.14798919
+v -0.01806695 0.07362683 0.14785734
+v 0.00382484 0.06531735 0.09697578
+v 0.00497143 0.07631333 0.14401131
+v 0.00849439 0.07581798 0.14401131
+v 0.00849439 0.07207766 0.13424901
+v -0.01432819 0.07429148 0.15393593
+v -0.00467968 0.07590134 0.15393594
+v 0.00497143 0.07589376 0.15393594
+v 0.00427463 0.06359880 0.09697577
+v 0.00849439 0.05051241 0.15103355
+v -0.01806695 0.05051235 0.16688456
+v -0.01806695 0.07326287 0.15393593
+v 0.00849439 0.07555007 0.15031315
+v 0.00849439 0.06359868 0.13163082
+v -0.01806695 0.07253502 0.15638158
+v -0.00126071 0.06936068 0.18032044
+v 0.00153426 0.06936068 0.18032044
+v 0.00849439 0.07534281 0.15393594
+v 0.00849439 0.06263831 0.13216866
+v 0.00849439 0.05740432 0.13532464
+v 0.00849439 0.05051234 0.16975642
+v -0.00209270 0.05051222 0.20063646
+v -0.01806695 0.05982281 0.16527108
+v -0.01806695 0.07056373 0.16135404
+v -0.00218110 0.06081088 0.19102643
+v 0.00238705 0.06081088 0.19102643
+v 0.00849439 0.07203206 0.16371848
+v 0.00849439 0.07307583 0.16113078
+v 0.00849439 0.06359854 0.16746303
+v 0.00404064 0.05418184 0.19407077
+v 0.00410824 0.05051225 0.19369530
+v 0.00230385 0.05051222 0.20063646
+v -0.00200171 0.05115414 0.20036247
+v -0.01806695 0.06818050 0.16243984
+v -0.01806695 0.06359856 0.16436793
+v 0.00221025 0.05115414 0.20036247
+v 0.00849439 0.06376030 0.16739200
+f 1 2 3
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+f 1 7 14
+f 1 14 13
+f 1 13 25
+f 1 25 37
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+f 1 49 48
+f 1 48 38
+f 1 38 29
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+f 1 26 15
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+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_39.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67935435e9e6fc2b86ef901517011af84f02e11b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_39.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.00849439 0.07581923 0.14400799
+v 0.00849439 0.07207385 0.13424430
+v 0.00849439 0.07556952 0.14990628
+v 0.00889933 0.07551277 0.14990628
+v 0.01462547 0.07495665 0.14400799
+v 0.00849439 0.06359560 0.13162799
+v 0.01462547 0.07168795 0.13550950
+v 0.03396779 0.06372045 0.13162620
+v 0.00849439 0.05158182 0.14990619
+v 0.01462547 0.07461614 0.14990627
+v 0.02428081 0.07192625 0.14990626
+v 0.02428081 0.07222704 0.14400798
+v 0.03033596 0.06910020 0.13801484
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+v 0.00849439 0.06263653 0.13216663
+v 0.02430612 0.06345373 0.13162620
+v 0.02476801 0.05579265 0.13162617
+v 0.02489455 0.05381779 0.13162617
+v 0.05282924 0.02553988 0.13162606
+v 0.04102264 0.06041766 0.13407605
+v 0.04013683 0.05975938 0.13162619
+v 0.00849439 0.05630903 0.13799869
+v 0.05536645 0.01784473 0.13597459
+v 0.05327847 0.01784471 0.14114632
+v 0.05039326 0.01784468 0.14850666
+v 0.05010221 0.01784468 0.14990607
+v 0.03070294 0.06930446 0.14990625
+v 0.03098134 0.06944635 0.14400797
+v 0.03580901 0.06682455 0.14400796
+v 0.04310430 0.06194984 0.14400794
+v 0.00849439 0.05739861 0.13531976
+v 0.06248458 0.02447300 0.13162606
+v 0.06290850 0.01784474 0.13278386
+v 0.05988409 0.01784474 0.13343704
+v 0.04792564 0.05832927 0.14400792
+v 0.05131703 0.05195073 0.13656168
+v 0.06008023 0.04208780 0.13586909
+v 0.06261113 0.03460266 0.13162610
+v 0.07278530 0.01784468 0.14990607
+v 0.03265805 0.06823758 0.14990625
+v 0.03552428 0.06664294 0.14990624
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+v 0.06285155 0.02447300 0.13162606
+v 0.06834359 0.01784474 0.13438012
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+v 0.05263942 0.05325590 0.14990620
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+v 0.06593924 0.03608375 0.14400784
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+v 0.07120982 0.02459213 0.14400780
+v 0.07313329 0.01784470 0.14400778
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+v 0.06580004 0.03579999 0.14990613
+v 0.06687567 0.03381945 0.14990612
+v 0.06844482 0.03092527 0.14990611
+v 0.06950779 0.02823538 0.14990610
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+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_4.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c597df1a9aff5e4c3072e799b0528947698ecc09
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_4.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.03983348 -0.05342387 -0.13410894
+v -0.03870762 -0.04829090 -0.13410892
+v -0.03862810 -0.04837142 -0.13972948
+v -0.03914708 -0.05342384 -0.14149446
+v -0.03920149 -0.05954287 -0.14165207
+v -0.03958236 -0.06019841 -0.13410896
+v -0.03963258 -0.06032625 -0.11424265
+v -0.03965351 -0.06039573 -0.10431474
+v -0.03975814 -0.06060150 -0.04211039
+v -0.03964932 -0.05278537 -0.04211036
+v -0.03363079 -0.04707153 -0.13410891
+v -0.03870343 -0.04924673 -0.04211035
+v -0.03849835 -0.04850511 -0.04211035
+v -0.03776591 -0.04826068 -0.04211035
+v -0.03561464 -0.04758017 -0.04211034
+v -0.03427533 -0.04715798 -0.04211034
+v -0.03363079 -0.04779923 -0.14165203
+v -0.03381913 -0.05311551 -0.14665276
+v -0.03072615 -0.06001225 -0.14931073
+v -0.03355126 -0.06302873 -0.14482480
+v -0.02993931 -0.06867558 -0.14138945
+v -0.03534678 -0.06507307 -0.13410898
+v -0.03536352 -0.06512866 -0.12418108
+v -0.03536352 -0.06520092 -0.11424267
+v -0.03535934 -0.06527039 -0.10431476
+v -0.03538445 -0.06535935 -0.08445896
+v -0.03540956 -0.06547894 -0.04211041
+v -0.00468071 -0.04224971 -0.11424259
+v -0.00468071 -0.04258576 -0.12418100
+v -0.00468071 -0.04209444 -0.04211032
+v -0.02614738 -0.04772424 -0.14186213
+v -0.02397936 -0.05615418 -0.14942628
+v -0.03072615 -0.05615974 -0.14931072
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+v -0.02397936 -0.06520080 -0.14612751
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+v -0.02397936 -0.06918113 -0.13410899
+v -0.03052107 -0.06899225 -0.13410899
+v -0.03058385 -0.06888982 -0.04211042
+v -0.03053781 -0.06898673 -0.12418109
+v 0.00291989 -0.04237200 -0.09438678
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+v 0.00242602 -0.04213332 -0.04211032
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+v -0.02335156 -0.05091289 -0.14471970
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diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_40.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c0542c5a7b2a938df962a6851c2f5091122645b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_40.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_5.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..796f319b63adec19bf16867bc9ba5892c0593232
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_5.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_6.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a0c7eb20729d8bdf80971523666f82c6f04c3ed
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_6.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_7.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc6e46fcae8fbd10915e3afb9b4b5f7810a2a223
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_7.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_8.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..834893f315d713d6dc8efe2e29b494ffcaf2b02d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_8.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_9.obj b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eec5bc645e1ef91251ba0efe148bd8a2d4dcd689
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/588b1987ba6b5fd3b2bbe5dd816df14f/mjcf/mesh/wind_chime_48_collision_9.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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