diff --git a/.gitattributes b/.gitattributes
index a7495a32714bff893b463511dcb164f9b15e8603..93fc81da9b46e39805892e4d8089a35cfaf5bdb6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4899,3 +4899,5 @@ dataset/livingroom_supplies/ornaments/0ff120be6cc8572fbe0cd072da5914f5/diffuser_
 dataset/livingroom_supplies/ornaments/0ff120be6cc8572fbe0cd072da5914f5/mesh/diffuser_bottle_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/1518b3ed231258ee9dc8992fa9c40740/mesh/photo_frame_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/1518b3ed231258ee9dc8992fa9c40740/photo_frame_034.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/houseplant_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mesh/houseplant_001.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/houseplant_001.urdf b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/houseplant_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..319861925a252ae80246861228e3160ac6c4d3d4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/houseplant_001.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="houseplant_001">
+   <link name="houseplant_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/houseplant_001.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_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="2.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>20349235fc6f563faafe9a9016f97db7</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>houseplant</category>
+         <name>potted plant</name>
+         <color>green and gray</color>
+         <shape>irregular</shape>
+         <material>ceramic and organic</material>
+         <description>green leafy plant in a round gray pot</description>
+         <min_height>0.7041</min_height>
+         <max_height>0.7041</max_height>
+         <real_height>0.7041</real_height>
+         <min_mass>1.5</min_mass>
+         <max_mass>2.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414155026</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>17</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/houseplant_001.usd b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/houseplant_001.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3d2cfe6b502671187c40ace238e634d43fa0dd7c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/houseplant_001.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:492c1f9508c39bc33c2f9336a0ed50b9b5ab51e278acb14aa1267bdd867a7d1e
+size 5024937
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mesh/houseplant_001.glb b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mesh/houseplant_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cab3b5b6a427038583f9d6c97b2bc3b745fb7476
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mesh/houseplant_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f7023b25a3f7daa78aa69147526d3328d10921c0b96601e5ad33f9b3b20e641
+size 14824548
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mesh/houseplant_001.mtl b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mesh/houseplant_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3cb682d948dab91bb18c671312f25663dd12a3a6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mesh/houseplant_001.mtl
@@ -0,0 +1,6 @@
+newmtl houseplant_001_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/20349235fc6f563faafe9a9016f97db7/mesh/houseplant_001.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mesh/houseplant_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd56f692e8127dbfa9cb4af2d53b65afe2a729b7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mesh/houseplant_001.obj
@@ -0,0 +1,113780 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl houseplant_001_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mesh/houseplant_001_collision.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mesh/houseplant_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e39a123800145b400b0a20207511bf95c93e4b76
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mesh/houseplant_001_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mesh/houseplant_001_geometry_Looks_material_0.png
new file mode 100644
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2b5fe56250c3a4da50ea98cf1040defc2a06f976
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/houseplant_001.xml b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/houseplant_001.xml
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..489970203b7d1a1c361cd86fafd28622fb8ff613
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001.obj
@@ -0,0 +1,113780 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl houseplant_001_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3b5e981b87d1f2b786cc291b1612001e9794acc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision.obj
@@ -0,0 +1,22684 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_0.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8568ad1cacf2f48c4c45f4c992f888be833fa153
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_1.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35aa7d9d6dc03f40ede0388fa5d929894d67616b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_1.obj
@@ -0,0 +1,5371 @@
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_10.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e883f388004c8884c12fb7e0b7c0e2f7d552042a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_10.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_11.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab2ac3b7dee73eb43cfa377c525cf1578617786c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_11.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_12.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77f85eb3e6f3a73166fea63faf674cb4cc767396
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_12.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_13.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d650b5b50df74cddc922f261005c49287c18a73
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_13.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_14.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b949a95cfe87a70ad1a57b0b844ff18cc9de5b9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_14.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_15.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdc82b515e7a8e8fe63b795aeaddf332e88d74a2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_15.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_16.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b227df862b248cb96e3198ee4df58fee6e054577
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_16.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.06417757 -0.03018930 0.20173035
+v -0.06417757 -0.02761919 0.20173036
+v -0.05578732 -0.03426241 0.20173033
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_17.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caed524dd3bb0fed68df7a7bba0fbfddb5474585
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_17.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.04873683 -0.09851398 0.00630791
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+v 0.04873683 -0.09848126 0.00933652
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_18.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b8309d8d7d3ce7c13e69d3e4187bfcc81f8f6e7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_18.obj
@@ -0,0 +1,484 @@
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_19.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32691311457b84a0cdcc908c5accbc7477c636d6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_19.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_2.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8517f6e1b0b2ff5098ca321d00bfbd22e917e43c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_2.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_20.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c2b522b5f78d7a8868d0dac176ad2424fa4d083
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_20.obj
@@ -0,0 +1,346 @@
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_21.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af9218b40d1c1217edc3d7710a9df2304ee7a76a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_21.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_22.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc7504573d151c34e20fa3743d8af43a230c3607
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_22.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_23.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4053cf3977423259acf9714df615762bea3414f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_23.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_24.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be276932d1b749432fef9e3fd9cb86009ed3cc6e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_24.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_25.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1297c56e57baa71c7f748c247ad4d4d50c131273
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_25.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_26.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb3ee0d2b4aa92e4d9fd0c3909562bce4b37bf4a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_26.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_27.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..071a3f56f93fbf3e7caacf8f8a1d1ef4c3206633
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_27.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_28.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f9c74ccf25eea47f8b8a34ab5fb46ccca5343a8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_28.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_29.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..166c373722f9e890cb5a626800759f42dc68e06f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_29.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_3.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e7684edddb41ac092b4f662d10bd1190cb1d01e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_3.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_30.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..283e5621c6e8f87eed94efac903266cc81b67b2b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_30.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_31.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c23e482cc57c43865d959db3bb69088314aaeb0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_31.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_32.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd14fc436b2d81907cf3ba001bc3543340f3029e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_32.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_33.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a8fd66f29b3cf8596382f8bdd4cb0f1602d023d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_33.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_34.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc227d5f86d2bbe2990b67a10e7a424c05ed6346
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_34.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_35.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e771ff479253b25365f5c6b0a21a61d8d6e00b30
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_35.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_36.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..134edc4569208943df3247f0db0c1e4c5b2cef57
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_36.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+f 36 38 39
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_37.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a62f9fb6294b59722dfb473e731265c0af916dad
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_37.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_38.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a35e5ed2ff45db554250a39429f96264d33b147
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_38.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.02217909 -0.05419113 -0.00771443
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+v -0.02217909 -0.05419117 0.00158650
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_39.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff29b1f523c7c96fe935ef4935a7e1cc1d58e903
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_39.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.00639908 -0.03624489 -0.03803627
+v 0.01059199 -0.05419103 -0.03803634
+v -0.00639908 -0.03617052 -0.03733288
+v -0.00639908 0.03812995 -0.03803600
+v 0.02722145 -0.05419103 -0.03803634
+v 0.01713367 -0.05419111 -0.01560791
+v -0.00639908 -0.03222942 -0.00771618
+v -0.00639908 -0.03319612 -0.01231050
+v -0.00639908 0.03603530 -0.00771593
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+v 0.03601924 0.07242332 -0.00771579
+v 0.02990936 0.04577688 -0.03608903
+v 0.02769642 0.04313702 -0.03803598
+v 0.04874096 -0.05419113 -0.01136085
+v 0.04874096 -0.02333061 -0.03803623
+v 0.02014003 -0.05419113 -0.01071384
+v 0.02303844 -0.05419114 -0.00771626
+v 0.04869778 0.06837056 -0.00771581
+v 0.03644024 0.04391783 -0.03803598
+v 0.03466449 0.04577688 -0.03608903
+v 0.03424888 0.04391783 -0.03803598
+v 0.04874096 -0.05419114 -0.00771626
+v 0.04874096 -0.00813588 -0.03803617
+v 0.04874096 0.06834578 -0.00771581
+v 0.03909577 0.04290154 -0.03803598
+v 0.04500055 0.03669228 -0.03803601
+v 0.04874096 0.03990222 -0.02792435
+v 0.04874096 0.05020139 -0.02113673
+v 0.04412616 0.03796883 -0.03803600
+f 1 2 3
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+f 1 21 19
+f 1 19 25
+f 1 25 29
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+f 1 26 23
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+f 2 22 17
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+f 2 16 6
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_4.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e3404af1c81a3a9fe66a3d8c188075d6bfde092
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_4.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.17892800 -0.12446261 0.05373017
+v 0.17498778 -0.13583423 0.05373013
+v 0.17278756 -0.14737240 0.04146532
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+v 0.17464263 -0.13519415 0.04148805
+v 0.17215481 -0.13876256 0.03460706
+v 0.17413932 -0.12446258 0.04517810
+v 0.14914613 -0.12446261 0.05373017
+v 0.17482958 -0.13629016 0.05373013
+v 0.17234178 -0.14353221 0.05019131
+v 0.17096125 -0.15363248 0.03714011
+v 0.16090932 -0.16700306 0.02141968
+v 0.16224670 -0.15895438 0.02117774
+v 0.16142701 -0.15159833 0.02327987
+v 0.10675259 -0.19793514 -0.02311774
+v 0.16561172 -0.12446258 0.04527640
+v 0.09861326 -0.19743535 -0.02350338
+v 0.08814430 -0.13901689 0.05373012
+v 0.16456195 -0.14650445 0.05373009
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+v 0.15909739 -0.16485504 0.03642928
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+v 0.14990828 -0.17910236 0.01031177
+v 0.15095805 -0.17058898 0.01057646
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+v 0.16421682 -0.14674118 0.05373009
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+v 0.15317264 -0.15608747 0.05103816
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+v 0.15317264 -0.16649461 0.03848601
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+v 0.13803004 -0.18953586 0.01103008
+v 0.13844707 -0.19005313 0.00724176
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+v 0.11259104 -0.19974126 -0.02187009
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+v 0.09061774 -0.21198095 -0.00208923
+v 0.08354256 -0.21215631 -0.00171115
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+v 0.06539445 -0.21194595 0.01226252
+v 0.05429275 -0.21012231 0.02441388
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+v 0.12432548 -0.19976764 0.00032295
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+v 0.05384695 -0.20388863 0.05372988
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_40.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60f00a5df06143e9f26e556ec824ef483ee4b685
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_40.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.15358794 -0.08907446 0.01102859
+v -0.15351303 -0.09028577 0.01102859
+v -0.15307182 -0.08907446 0.01180102
+v -0.14712817 -0.07743859 0.01663906
+v -0.14493883 -0.06916744 0.01548817
+v -0.14755271 -0.07431854 0.01102865
+v -0.15094077 -0.09509430 0.01102857
+v -0.14511364 -0.09727220 0.01417751
+v -0.14726135 -0.08907448 0.01565545
+v -0.11544526 -0.06580278 0.03732995
+v -0.11640257 -0.05399558 0.03732999
+v -0.11549521 -0.01919803 0.03733012
+v -0.14493883 -0.06916742 0.01102867
+v -0.14813542 -0.10025765 0.01102855
+v -0.11331420 -0.07632524 0.03732991
+v -0.14062676 -0.10502948 0.01226442
+v -0.06855357 -0.01919803 0.03733012
+v -0.07672818 -0.01919793 0.01102885
+v -0.07836810 -0.02006664 0.01102885
+v -0.10667960 -0.03587482 0.01102879
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+v -0.14573797 -0.10250896 0.01102854
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+v -0.13289333 -0.10748879 0.01359815
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+v -0.06855357 -0.14123411 0.01230549
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+v -0.06855357 -0.13483497 0.01495237
+v -0.14174223 -0.10609394 0.01102853
+v -0.13899516 -0.10796597 0.01102852
+v -0.06855357 -0.01919793 0.01102885
+v -0.06855357 -0.04790234 0.03733001
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+v -0.13534072 -0.11011940 0.01102852
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+v -0.12544294 -0.11512369 0.01119329
+v -0.12543462 -0.11536840 0.01102850
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+f 26 37 35
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+f 27 38 39
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+f 27 40 28
+f 28 40 41
+f 39 41 40
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_41.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67031cfccb574e6c03b412ac9d6b79c3df71f346
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_41.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.12117572 -0.03097873 0.05936049
+v -0.06855357 -0.03097873 0.05936049
+v -0.12117572 -0.03097879 0.07500434
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+v -0.06855357 -0.03097874 0.06269874
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+v -0.06857417 -0.03097874 0.06291771
+v -0.06855357 -0.03085617 0.06287790
+v -0.06869779 0.02417847 0.05936069
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+v -0.08291958 0.02735882 0.07500455
+v -0.08169880 0.02735883 0.07391119
+v -0.07792830 0.01577903 0.07500451
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_42.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dea8e8f4b5c4567bb5dde64698143d4837ae006
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_42.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_43.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6537536a03789503101255d3d33b92f09bec3fdf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_43.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_44.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..961f9b3adf1174182e67d5aec6a744d7e988260e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_44.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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+f 88 99 98
+f 88 98 102
+f 88 102 89
+f 89 102 90
+f 90 102 103
+f 90 103 91
+f 91 103 104
+f 91 104 105
+f 91 105 92
+f 92 105 106
+f 92 106 96
+f 92 96 93
+f 97 107 102
+f 97 102 98
+f 102 107 108
+f 102 108 103
+f 103 108 104
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_45.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c72b81233d9a77e5fc396e86b7369b862d57dc1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_45.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.00018562 -0.03958551 0.05373804
+v 0.03225251 -0.03958551 0.05373804
+v -0.00018562 -0.03958559 0.07553372
+v -0.00018562 0.03723729 0.05373833
+v 0.03225251 -0.03454721 0.05373806
+v 0.06730896 -0.03819453 0.10496820
+v 0.06736186 -0.03825468 0.10507876
+v 0.06035321 -0.03947290 0.10507876
+v 0.03225251 -0.03958553 0.06032147
+v 0.01399697 -0.03958557 0.07005590
+v 0.05345036 -0.03847276 0.10507876
+v 0.00943474 -0.02459863 0.10507379
+v 0.00731892 -0.02290667 0.10507380
+v 0.00312696 -0.01874819 0.10507381
+v -0.00018562 -0.01525146 0.10507382
+v -0.00018562 0.03723728 0.05850252
+v 0.00067393 0.03723729 0.05373833
+v 0.06730896 -0.03399845 0.10496822
+v 0.03184257 -0.00091092 0.05373819
+v 0.06736186 -0.03411877 0.10507877
+v 0.05215442 -0.03788621 0.10507876
+v 0.04458376 -0.03414133 0.10507877
+v -0.00018562 0.02855167 0.10507398
+v 0.00062764 0.03723729 0.05531132
+v 0.06047223 -0.02398201 0.10507881
+v 0.03184257 -0.00089588 0.05377839
+v 0.06733541 -0.03397589 0.10507878
+v 0.04458376 -0.01337150 0.10507885
+v 0.04604500 -0.01418364 0.10507885
+v 0.05809193 -0.02221484 0.10507882
+f 1 2 9
+f 1 9 10
+f 1 10 3
+f 1 3 15
+f 1 15 23
+f 1 23 16
+f 1 16 4
+f 1 4 17
+f 1 17 19
+f 1 19 5
+f 1 5 2
+f 2 5 18
+f 2 18 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 3 10 8
+f 3 8 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 4 16 24
+f 4 24 17
+f 5 19 18
+f 6 18 20
+f 6 20 7
+f 7 20 27
+f 7 27 25
+f 7 25 30
+f 7 30 29
+f 7 29 28
+f 7 28 22
+f 7 22 21
+f 7 21 11
+f 7 11 8
+f 8 10 9
+f 11 21 12
+f 12 21 22
+f 12 22 13
+f 13 22 14
+f 14 22 15
+f 15 22 28
+f 15 28 23
+f 16 23 24
+f 17 25 26
+f 17 26 19
+f 17 24 25
+f 18 27 20
+f 18 19 27
+f 19 26 27
+f 23 28 29
+f 23 29 30
+f 23 30 25
+f 23 25 24
+f 25 27 26
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_46.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e1edfba51bd68d3aee0caaef914250000d788b7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_46.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.04874096 0.00099372 -0.01438901
+v 0.04984688 0.00050061 -0.01438901
+v 0.04874096 0.00095989 -0.01516281
+v 0.04874096 -0.04839486 -0.01438919
+v 0.05549670 -0.01256675 -0.04694068
+v 0.04874096 0.00089704 -0.01541206
+v 0.06676028 -0.02600660 -0.01438911
+v 0.07943930 -0.02382625 -0.01918814
+v 0.07943930 -0.02382623 -0.02322454
+v 0.05176422 -0.02541184 -0.04570934
+v 0.05504592 -0.02541184 -0.04570934
+v 0.07943930 -0.02831741 -0.02322455
+v 0.07943930 -0.02831743 -0.01918815
+v 0.07029442 -0.03269262 -0.01438913
+v 0.04874096 -0.02095932 -0.05014751
+v 0.05565598 -0.01921893 -0.04693698
+v 0.04874096 -0.00996580 -0.05239447
+v 0.07028841 -0.03169189 -0.01438913
+v 0.04874096 -0.02089647 -0.05018472
+f 1 2 3
+f 1 3 6
+f 1 6 17
+f 1 17 19
+f 1 19 15
+f 1 15 4
+f 1 4 14
+f 1 14 18
+f 1 18 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 15 10
+f 5 16 17
+f 5 17 6
+f 5 9 16
+f 7 18 8
+f 8 18 14
+f 8 14 13
+f 8 13 12
+f 8 12 9
+f 9 12 16
+f 10 15 11
+f 11 15 19
+f 11 19 16
+f 11 16 12
+f 16 19 17
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_47.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f89cab9117703f707db5b04f79c960db5a5bea74
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_47.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.02161217 0.07393571 -0.05373470
+v 0.02090469 0.08175843 -0.05437973
+v 0.01555502 0.07393571 -0.05373470
+v 0.02102922 0.06532477 -0.05509093
+v 0.02161217 0.07393573 -0.06041819
+v 0.01747820 0.08175843 -0.05437973
+v 0.02090469 0.08175844 -0.05807868
+v 0.01555502 0.07393573 -0.06041819
+v 0.01637932 0.06532477 -0.05509093
+v 0.02102922 0.06532479 -0.06030177
+v 0.01747820 0.08175844 -0.05807868
+v 0.01637932 0.06532479 -0.06030177
+f 1 2 6
+f 1 6 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 5
+f 1 5 7
+f 1 7 2
+f 2 7 11
+f 2 11 6
+f 3 6 11
+f 3 11 8
+f 3 8 12
+f 3 12 9
+f 4 9 12
+f 4 12 10
+f 5 10 12
+f 5 12 8
+f 5 8 11
+f 5 11 7
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_48.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59529ec5552b112d9157c6f262c20795df81095c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_48.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.04800575 0.03723726 0.06252351
+v 0.05186613 0.03220295 0.06252349
+v 0.04988645 0.03723725 0.06463545
+v 0.07860981 0.03723726 0.06252351
+v 0.05276598 0.03107495 0.06252348
+v 0.06377121 0.03045712 0.07356642
+v 0.05302694 0.03723724 0.06784711
+v 0.08004958 0.03539256 0.06252350
+v 0.13992590 0.03723711 0.10442505
+v 0.05367484 0.03001117 0.06252348
+v 0.05988383 0.02667751 0.06588092
+v 0.06763158 0.02269655 0.06988818
+v 0.07552331 0.03091522 0.08473016
+v 0.06778456 0.03601549 0.08132275
+v 0.06548093 0.03723720 0.07978566
+v 0.08232621 0.02963460 0.06252348
+v 0.13992590 0.03723710 0.10507488
+v 0.13724434 0.03203794 0.10469579
+v 0.08136336 0.02024450 0.06252344
+v 0.08302810 0.02736126 0.06252347
+v 0.05830909 0.02514519 0.06252346
+v 0.06392418 0.02037812 0.06252344
+v 0.07537033 0.02047006 0.07322482
+v 0.10014333 0.02118148 0.09498163
+v 0.08017556 0.02315465 0.08098112
+v 0.07889776 0.03723716 0.09107854
+v 0.09241358 0.02399800 0.09180747
+v 0.08804929 0.03176031 0.09541072
+v 0.06916133 0.03723718 0.08311812
+v 0.13724434 0.03203793 0.10507486
+v 0.09952243 0.03723710 0.10507488
+v 0.11412707 0.02086565 0.09299882
+v 0.10256394 0.02072513 0.08166011
+v 0.07970763 0.01991825 0.06252344
+v 0.06459007 0.02017508 0.06252344
+v 0.07167193 0.01950869 0.06577258
+v 0.10166408 0.03410649 0.10507487
+v 0.09581503 0.02767176 0.09732687
+v 0.09581503 0.02049777 0.08822923
+v 0.10674826 0.02076672 0.09601053
+v 0.11113956 0.02820449 0.10507484
+v 0.10812504 0.02933422 0.10507485
+v 0.08623158 0.03723713 0.09669374
+v 0.10061126 0.03537331 0.10507487
+v 0.09379936 0.03723712 0.10163828
+v 0.12425043 0.02776197 0.10507484
+v 0.11412707 0.02086564 0.09602719
+v 0.09756075 0.03723711 0.10402099
+v 0.10655930 0.02043355 0.08894154
+v 0.07162694 0.01955208 0.06252344
+v 0.06853144 0.01959894 0.06252344
+v 0.11826641 0.02757975 0.10507484
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 29
+f 1 29 26
+f 1 26 43
+f 1 43 45
+f 1 45 48
+f 1 48 31
+f 1 31 17
+f 1 17 9
+f 1 9 4
+f 1 4 8
+f 1 8 16
+f 1 16 20
+f 1 20 19
+f 1 19 34
+f 1 34 50
+f 1 50 51
+f 1 51 35
+f 1 35 22
+f 1 22 21
+f 1 21 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 9 8
+f 5 10 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 6 10 11
+f 7 14 15
+f 8 9 16
+f 9 17 30
+f 9 30 18
+f 9 18 19
+f 9 19 20
+f 9 20 16
+f 10 21 11
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 13 26 14
+f 13 25 27
+f 13 27 28
+f 13 28 26
+f 14 26 29
+f 14 29 15
+f 17 31 44
+f 17 44 37
+f 17 37 42
+f 17 42 41
+f 17 41 52
+f 17 52 46
+f 17 46 30
+f 18 30 47
+f 18 47 32
+f 18 32 33
+f 18 33 19
+f 19 33 34
+f 22 35 23
+f 23 35 36
+f 23 36 24
+f 24 37 38
+f 24 38 28
+f 24 28 27
+f 24 27 25
+f 24 36 39
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 37
+f 26 28 43
+f 28 38 37
+f 28 37 44
+f 28 44 45
+f 28 45 43
+f 30 46 47
+f 31 48 44
+f 32 47 49
+f 32 49 34
+f 32 34 33
+f 34 49 50
+f 35 51 36
+f 36 51 50
+f 36 50 49
+f 36 49 40
+f 36 40 39
+f 40 49 47
+f 40 47 52
+f 40 52 41
+f 44 48 45
+f 46 52 47
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_49.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09737d193e35d687c912e0b05a8d995b36811ea8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_49.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.08199914 -0.05116459 0.00179494
+v -0.08199914 -0.04266325 -0.00155419
+v -0.02969822 -0.04217887 -0.03803630
+v -0.07946845 -0.05413737 0.00179493
+v -0.08199914 0.03087587 0.00179524
+v -0.08199914 0.00124234 -0.00771821
+v -0.07173579 0.00695924 -0.01589030
+v -0.03229551 -0.03083929 -0.03803626
+v -0.02938744 -0.04250171 -0.03803631
+v -0.02701954 -0.04847417 -0.03373583
+v -0.03213272 -0.05417763 -0.02278380
+v -0.07567981 -0.05419117 0.00060576
+v -0.07445887 -0.05419118 0.00179493
+v -0.06376634 0.05898942 0.00179535
+v -0.05183066 0.08215293 -0.02064670
+v -0.05143848 0.08162834 -0.02764135
+v -0.08199914 0.02753995 -0.00771811
+v -0.05006954 0.07884391 -0.03358720
+v -0.03600275 -0.00619621 -0.03803617
+v -0.04107153 0.02869688 -0.03803604
+v -0.04090874 0.02725758 -0.03803605
+v -0.02097401 -0.04655059 -0.03803632
+v -0.02097401 -0.05417762 -0.02478395
+v -0.05702523 -0.05419114 -0.00771841
+v -0.02286832 -0.05419118 0.00179493
+v -0.06121345 0.06118201 0.00179535
+v -0.03279129 0.08203178 0.00179543
+v -0.03085258 0.08322896 0.00179544
+v -0.04792363 0.08215293 -0.02064670
+v -0.04790143 0.08162834 -0.02764135
+v -0.05006954 0.07985277 -0.03358720
+v -0.04132312 0.07096137 -0.03803589
+v -0.01894650 -0.04652369 -0.03803632
+v -0.02218015 -0.05419114 -0.00771841
+v -0.01491367 -0.04854142 -0.03412572
+v -0.01242738 -0.05417765 -0.01651825
+v -0.02218015 -0.05419118 0.00158439
+v -0.02218015 -0.02568753 0.00179504
+v -0.02837368 0.08322896 0.00179544
+v -0.04926297 0.07985277 -0.03358720
+v -0.02491064 0.08262364 0.00179543
+v -0.03330927 0.07061164 -0.03803589
+v -0.01205740 -0.04353747 -0.03803631
+v -0.01239778 -0.05417765 -0.01647147
+v -0.01218319 -0.05417768 -0.00771841
+v -0.00640405 -0.03222490 -0.00771833
+v -0.02218015 0.01192276 0.00179517
+v -0.00640405 0.03811290 -0.03803601
+v -0.02320871 0.07349010 0.00179540
+v -0.00640405 0.03601437 -0.00771808
+v -0.00640405 -0.03623332 -0.03803628
+v -0.00640405 -0.03616607 -0.03732667
+v -0.00640405 -0.03319339 -0.01231125
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 25
+f 1 25 38
+f 1 38 47
+f 1 47 49
+f 1 49 41
+f 1 41 39
+f 1 39 28
+f 1 28 27
+f 1 27 26
+f 1 26 14
+f 1 14 5
+f 1 5 17
+f 1 17 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 9 4
+f 3 8 19
+f 3 19 21
+f 3 21 20
+f 3 20 32
+f 3 32 42
+f 3 42 48
+f 3 48 51
+f 3 51 43
+f 3 43 33
+f 3 33 22
+f 3 22 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 6 17 31
+f 6 31 18
+f 6 18 7
+f 7 19 8
+f 7 18 20
+f 7 20 21
+f 7 21 19
+f 9 22 10
+f 10 22 23
+f 10 23 11
+f 11 23 24
+f 11 24 12
+f 12 24 34
+f 12 34 37
+f 12 37 25
+f 12 25 13
+f 14 26 15
+f 15 27 28
+f 15 28 39
+f 15 39 29
+f 15 29 30
+f 15 30 16
+f 15 26 27
+f 16 30 40
+f 16 40 31
+f 16 31 17
+f 18 31 32
+f 18 32 20
+f 22 33 23
+f 23 34 24
+f 23 33 35
+f 23 35 36
+f 23 36 34
+f 25 37 38
+f 29 39 30
+f 30 39 41
+f 30 41 42
+f 30 42 40
+f 31 40 32
+f 32 40 42
+f 33 43 35
+f 34 36 44
+f 34 44 45
+f 34 45 37
+f 35 43 44
+f 35 44 36
+f 37 45 46
+f 37 46 38
+f 38 46 50
+f 38 50 47
+f 41 48 42
+f 41 49 50
+f 41 50 48
+f 43 51 44
+f 44 51 45
+f 45 51 52
+f 45 52 53
+f 45 53 46
+f 46 53 52
+f 46 52 51
+f 46 51 48
+f 46 48 50
+f 47 50 49
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_5.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..495d0d912851563d3344527b38526de1da1a66ad
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_5.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.02618901 0.09010053 0.01103062
+v 0.02739665 0.09721688 0.01703333
+v 0.02779920 0.10887641 0.01770080
+v 0.02779920 0.10887644 0.01103069
+v 0.02670134 0.08559431 0.01103060
+v 0.02822614 0.08559429 0.01561092
+v 0.03575254 0.10887639 0.02351582
+v 0.03548418 0.12049900 0.02305303
+v 0.02882386 0.12049902 0.01723942
+v 0.02882386 0.12049904 0.01103073
+v 0.02767721 0.07863799 0.01103058
+v 0.03710656 0.08559428 0.01945044
+v 0.03818002 0.09832495 0.02278202
+v 0.02798217 0.07767764 0.01103199
+v 0.02990952 0.07760376 0.01406861
+v 0.04277882 0.10292966 0.02471520
+v 0.04157117 0.10887639 0.02491983
+v 0.04130281 0.12049899 0.02498196
+v 0.04242506 0.12679046 0.02479855
+v 0.03698458 0.13207236 0.01961007
+v 0.03017788 0.12959764 0.01534581
+v 0.02898244 0.12157019 0.01103074
+v 0.02799437 0.07768996 0.01103058
+v 0.08355802 0.03901770 0.01873204
+v 0.10055038 0.04459505 0.02477566
+v 0.02864089 0.07575696 0.01103198
+v 0.03337386 0.06881295 0.01103195
+v 0.03406917 0.06984716 0.01213682
+v 0.07639757 0.03229533 0.01369732
+v 0.10672276 0.05066490 0.02544595
+v 0.04629195 0.12049899 0.02498196
+v 0.04385227 0.12679046 0.02479855
+v 0.04812171 0.13125974 0.02325061
+v 0.04870723 0.14379346 0.01886366
+v 0.04192492 0.15061436 0.01396445
+v 0.03944866 0.14379347 0.01603446
+v 0.03017788 0.12959766 0.01175464
+v 0.02943378 0.12453740 0.01103075
+v 0.14218347 0.07768996 0.01103058
+v 0.08846178 0.02867559 0.01103181
+v 0.08355802 0.02918038 0.01103181
+v 0.07750762 0.03000529 0.01103181
+v 0.07458001 0.03092870 0.01103181
+v 0.06790749 0.03635832 0.01103183
+v 0.08355802 0.03095331 0.01496022
+v 0.09604916 0.04003959 0.02211579
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_50.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93d4f7fb38a36a3f9aa0cb9af36ea56162d51a78
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_50.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_51.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eda936b67c6bc039afa1273bb4648f749aff1092
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_51.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.18282704 -0.11162274 0.06208790
+v 0.18285629 -0.11237564 0.06209573
+v 0.18282704 -0.11162272 0.05804752
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_52.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b39d6fe0166592088a10eaa8215d1ef65d172af8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_52.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.01858897 0.00728886 0.20173049
+v -0.00662740 0.00728902 0.15878825
+v -0.02766626 0.00728886 0.20173049
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+v -0.00598433 -0.02539050 0.20169991
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+v -0.00598433 0.00168644 0.15972695
+v -0.00598433 0.00274640 0.15785459
+v -0.02766626 0.00728905 0.14989333
+v -0.02766626 -0.03334009 0.20173034
+v -0.00598433 -0.06082985 0.20173024
+v -0.00598433 0.00317313 0.15702752
+v -0.00598433 0.00582991 0.14989332
+v -0.02766626 -0.01953996 0.14989323
+v -0.01216886 -0.05505521 0.20173026
+v -0.00773314 -0.06082985 0.20173024
+v -0.00598645 -0.06302545 0.20172515
+v -0.00598433 -0.06082984 0.19868070
+v -0.00598433 -0.02474333 0.14989321
+v -0.00598433 -0.06045129 0.19815805
+v -0.01051979 -0.05733340 0.20173025
+f 1 2 10
+f 1 10 15
+f 1 15 3
+f 1 3 16
+f 1 16 21
+f 1 21 27
+f 1 27 22
+f 1 22 17
+f 1 17 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 10
+f 3 15 20
+f 3 20 16
+f 4 17 24
+f 4 24 26
+f 4 26 25
+f 4 25 19
+f 4 19 18
+f 4 18 14
+f 4 14 13
+f 4 13 12
+f 4 12 11
+f 4 11 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 10 14 18
+f 10 18 19
+f 10 19 25
+f 10 25 20
+f 10 20 15
+f 16 20 21
+f 17 22 23
+f 17 23 24
+f 20 25 26
+f 20 26 24
+f 20 24 23
+f 20 23 27
+f 20 27 21
+f 22 27 23
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_53.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc7f6456e367f034c25fa01535f5ea4525aa21f8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_53.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.08327791 -0.11806319 0.08949946
+v 0.08327791 -0.12437780 0.08790438
+v 0.08327791 -0.11806318 0.08683271
+v 0.08154589 -0.11806322 0.09686029
+v 0.08246092 -0.13565949 0.10030753
+v 0.08327791 -0.12445008 0.08788294
+v 0.08327791 -0.12499223 0.08683268
+v -0.00017746 -0.11806318 0.08683271
+v 0.08026322 -0.12889569 0.10507664
+v 0.08126811 -0.13565951 0.10507661
+v 0.07756716 -0.11806325 0.10507668
+v 0.07766520 -0.11830076 0.10507668
+v 0.07795114 -0.11923014 0.10507667
+v 0.07954427 -0.12500778 0.10507665
+v 0.08144785 -0.14099313 0.10507659
+v 0.07909492 -0.15577028 0.10507654
+v 0.07909492 -0.15577027 0.10398877
+v 0.08040210 -0.14711153 0.10018960
+v 0.07882532 -0.14311000 0.09324139
+v 0.07168484 -0.14420458 0.08683261
+v -0.00017746 -0.15688030 0.08683256
+v -0.00017746 -0.11806319 0.09113381
+v 0.04861309 -0.11806325 0.10507668
+v 0.06893159 -0.16410373 0.10507651
+v 0.06942178 -0.14568643 0.08683260
+v -0.00001406 -0.15718493 0.08683256
+v -0.00017746 -0.14729737 0.09030849
+v -0.00017746 -0.12401640 0.09190006
+v 0.00226534 -0.12401640 0.09283601
+v 0.00226534 -0.11806320 0.09206798
+v 0.00226534 -0.13565946 0.09320748
+v 0.06474861 -0.16156341 0.10507652
+v 0.01302508 -0.17026338 0.08683251
+v 0.02521454 -0.17080552 0.08683251
+v 0.02548415 -0.17081068 0.08683251
+v 0.02590898 -0.17058866 0.08683251
+v 0.00069672 -0.15844992 0.08683256
+v 0.00173430 -0.15906435 0.08726838
+v 0.00226534 -0.14729738 0.09178030
+v -0.00017746 -0.13547359 0.09191430
+v 0.01387475 -0.15894561 0.09123905
+v 0.00755126 -0.16594692 0.08683253
+v 0.00248593 -0.16108316 0.08683255
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 22
+f 1 22 30
+f 1 30 23
+f 1 23 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 20
+f 3 20 25
+f 3 25 36
+f 3 36 35
+f 3 35 34
+f 3 34 33
+f 3 33 42
+f 3 42 43
+f 3 43 37
+f 3 37 26
+f 3 26 21
+f 3 21 8
+f 4 9 10
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+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 9
+f 5 7 6
+f 5 10 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 7
+f 7 18 17
+f 7 17 19
+f 7 19 20
+f 8 21 27
+f 8 27 40
+f 8 40 28
+f 8 28 22
+f 9 14 13
+f 9 13 12
+f 9 12 11
+f 9 11 23
+f 9 23 32
+f 9 32 24
+f 9 24 16
+f 9 16 15
+f 9 15 10
+f 16 24 17
+f 17 24 20
+f 17 20 19
+f 20 24 25
+f 21 26 27
+f 22 28 29
+f 22 29 30
+f 23 30 29
+f 23 29 31
+f 23 31 32
+f 24 32 33
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 25
+f 26 37 27
+f 27 37 38
+f 27 38 39
+f 27 39 40
+f 28 40 31
+f 28 31 29
+f 31 40 39
+f 31 39 32
+f 32 39 41
+f 32 41 42
+f 32 42 33
+f 37 43 38
+f 38 43 39
+f 39 43 42
+f 39 42 41
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_54.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8ec3cf6a54e8d008a3d7d5694b6e35e4449f730
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_54.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00018082 -0.04441125 0.03015686
+v -0.00018082 -0.03714971 0.01102878
+v 0.00049678 -0.03757109 0.01102878
+v 0.00331772 -0.03931541 0.01102878
+v 0.00166937 -0.04549899 0.03015685
+v 0.00606177 -0.04730211 0.03015873
+v -0.00017601 0.01710053 0.03015896
+v -0.00018082 0.01709073 0.03015708
+v -0.00018082 0.01709080 0.01102898
+v 0.00736891 -0.04072654 0.01102877
+v 0.01387581 -0.05058496 0.03015871
+v -0.00017601 0.04473525 0.03015906
+v -0.00017601 0.04342215 0.02064370
+v -0.00017601 0.04038433 0.01102907
+v 0.01387581 -0.04197108 0.01102877
+v 0.02547193 -0.04881124 0.03015872
+v 0.02619759 -0.04044236 0.01102877
+v 0.02520281 0.04950763 0.03015908
+v 0.00208747 0.04059012 0.01102907
+v 0.03005655 -0.04767449 0.03015872
+v 0.03780813 -0.04460724 0.03015686
+v 0.04692932 -0.03060361 0.01102881
+v 0.03706805 0.04865507 0.03015908
+v 0.04345961 0.03987475 0.01102907
+v 0.03331962 0.04018833 0.01102907
+v 0.03098886 -0.04730211 0.03015873
+v 0.04426216 -0.04056002 0.03015687
+v 0.04692932 -0.03629722 0.03015689
+v 0.04462739 -0.04010924 0.03015687
+v 0.04692932 -0.00874081 0.01102889
+v 0.04890445 0.03939450 0.03015904
+v 0.03714975 0.04863548 0.03015908
+v 0.04625171 0.03774825 0.01102906
+v 0.03725547 0.04857668 0.03015908
+v 0.04806346 0.02647870 0.03015900
+v 0.04632861 0.03460259 0.01102905
+v 0.04841427 0.03985508 0.03015905
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 8
+f 1 8 9
+f 1 9 2
+f 2 9 14
+f 2 14 19
+f 2 19 25
+f 2 25 24
+f 2 24 33
+f 2 33 36
+f 2 36 30
+f 2 30 22
+f 2 22 17
+f 2 17 15
+f 2 15 10
+f 2 10 4
+f 2 4 3
+f 4 10 11
+f 4 11 5
+f 5 11 6
+f 6 11 16
+f 6 16 20
+f 6 20 26
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+f 6 35 31
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+f 6 37 34
+f 6 34 32
+f 6 32 23
+f 6 23 18
+f 6 18 12
+f 6 12 7
+f 8 12 9
+f 9 12 13
+f 9 13 14
+f 10 15 11
+f 11 15 17
+f 11 17 16
+f 12 18 13
+f 13 18 14
+f 14 18 19
+f 16 17 20
+f 17 21 20
+f 17 22 21
+f 18 23 24
+f 18 24 25
+f 18 25 19
+f 20 21 26
+f 21 22 27
+f 21 27 26
+f 22 28 29
+f 22 29 27
+f 22 30 31
+f 22 31 28
+f 23 32 24
+f 24 32 34
+f 24 34 33
+f 26 27 29
+f 26 29 28
+f 26 28 35
+f 28 31 35
+f 30 36 31
+f 31 36 33
+f 31 33 37
+f 33 34 37
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_55.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0045f952e9c9cf133394788da580dc3ac7fe037
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_55.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.01210222 -0.05419115 -0.00523084
+v -0.01238813 -0.05419111 -0.01646518
+v -0.01216476 -0.05419115 -0.00503681
+v -0.00321251 -0.07088042 0.00201869
+v -0.00321251 -0.07088041 0.00013740
+v -0.01241493 -0.05419111 -0.01651299
+v -0.00254243 -0.07743644 -0.00059377
+v -0.02096513 -0.05419117 0.00120887
+v -0.01381763 -0.05878733 0.00237306
+v -0.00371283 -0.08273940 0.01102581
+v -0.00254243 -0.07743646 0.00431897
+v -0.00970781 -0.06651842 0.00452429
+v -0.00734913 -0.07832535 0.01102582
+v -0.00265858 -0.08907858 0.00024137
+v -0.01370148 -0.05419110 -0.01769688
+v -0.00200637 -0.09309809 0.01102577
+v -0.00188129 -0.09848340 0.01102575
+v -0.00198850 -0.09848339 0.00719848
+v -0.00205104 -0.09848338 0.00621987
+v -0.02096513 -0.05706594 0.00366101
+v -0.04993934 -0.05419121 0.01102591
+v -0.01897277 -0.06840893 0.01102586
+v -0.01486295 -0.07087611 0.01102585
+v -0.01004732 -0.07562836 0.01102583
+v -0.00843913 -0.07653893 0.01057027
+v -0.00232800 -0.08985043 0.01102578
+v -0.00336440 -0.09538312 0.00125090
+v -0.01798999 -0.06029184 -0.01769690
+v -0.04071906 -0.05419110 -0.01769688
+v -0.09315497 -0.09848340 0.01102575
+v -0.00239055 -0.09848338 0.00530594
+v -0.09315497 -0.05419121 0.01102591
+v -0.00818003 -0.09848337 0.00279192
+v -0.06679853 -0.09848336 0.00007262
+v -0.02085792 -0.06095091 -0.01769690
+v -0.09315497 -0.09848337 0.00202703
+v -0.09315497 -0.05419119 0.00508957
+v -0.03257090 -0.05913846 -0.01769690
+v -0.07783249 -0.09848336 0.00016542
+v -0.02878272 -0.05993195 -0.01769690
+f 1 2 6
+f 1 6 15
+f 1 15 29
+f 1 29 37
+f 1 37 32
+f 1 32 21
+f 1 21 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
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+f 2 7 6
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+f 4 7 5
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+f 7 16 17
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+f 9 24 25
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+f 9 13 12
+f 10 26 11
+f 10 13 24
+f 10 24 23
+f 10 23 22
+f 10 22 21
+f 10 21 32
+f 10 32 30
+f 10 30 17
+f 10 17 16
+f 10 16 26
+f 11 26 16
+f 13 25 24
+f 14 19 27
+f 14 27 15
+f 15 27 28
+f 15 28 35
+f 15 35 40
+f 15 40 38
+f 15 38 29
+f 17 30 36
+f 17 36 39
+f 17 39 34
+f 17 34 33
+f 17 33 31
+f 17 31 19
+f 17 19 18
+f 19 31 27
+f 20 21 22
+f 27 31 33
+f 27 33 34
+f 27 34 35
+f 27 35 28
+f 29 36 37
+f 29 38 36
+f 30 32 37
+f 30 37 36
+f 34 39 35
+f 35 39 40
+f 36 38 39
+f 38 40 39
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_56.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c582b9c99ab065e292877c788523f4912a28fac
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_56.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.06272444 0.03233126 0.10507902
+v -0.06259588 0.03204510 0.10478672
+v -0.06268771 0.03199305 0.10507902
+v -0.06272444 0.03517570 0.10507903
+v -0.06259588 0.03501094 0.10478673
+v -0.03182233 0.03900889 0.06728403
+v -0.05188912 0.03123863 0.09218468
+v -0.05577024 0.02984240 0.10066866
+v -0.05577636 0.02927870 0.10507901
+v -0.01720994 0.10704110 0.10507929
+v -0.01700181 0.10630398 0.10337362
+v -0.02883496 0.04693516 0.06728406
+v -0.03054290 0.03212327 0.06728401
+v -0.02989401 0.03051027 0.06728400
+v -0.01075772 0.02273143 0.06728397
+v -0.01735074 0.02273129 0.10507898
+v -0.00934974 0.11132509 0.10507931
+v -0.00390147 0.08005376 0.07089163
+v -0.00047946 0.07631611 0.06728417
+v -0.00018562 0.02273143 0.06728397
+v -0.00018562 0.02273129 0.10507898
+v -0.00018562 0.11123837 0.10507931
+v -0.00018562 0.08015782 0.07079174
+v -0.00018562 0.07633346 0.06728417
+f 1 2 3
+f 1 3 9
+f 1 9 16
+f 1 16 21
+f 1 21 22
+f 1 22 17
+f 1 17 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 6
+f 6 13 7
+f 6 12 19
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+f 6 24 20
+f 6 20 15
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+f 7 13 14
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+f 8 14 15
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+f 9 15 16
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+f 15 20 21
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+f 17 22 23
+f 17 23 18
+f 18 23 24
+f 18 24 19
+f 20 24 23
+f 20 23 22
+f 20 22 21
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_57.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76381f40bd47a3356d09841d8574182481ac1248
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_57.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
+v -0.06855356 -0.03098741 0.06270085
+v -0.06855356 -0.03098740 0.05936049
+v -0.06858432 -0.03098741 0.06291841
+v -0.06855356 -0.03106554 0.06292510
+v -0.06855356 -0.07232460 0.05936033
+v -0.22420874 -0.03098740 0.05936049
+v -0.06866122 -0.03098741 0.06298535
+v -0.07487451 -0.04250665 0.07022162
+v -0.06855356 -0.04189898 0.06545544
+v -0.06855356 -0.07106592 0.06485620
+v -0.07281366 -0.08363547 0.06111415
+v -0.07281366 -0.08363547 0.05936029
+v -0.22566978 -0.06567523 0.05936036
+v -0.22488543 -0.06579676 0.06033770
+v -0.21974869 -0.03098741 0.06342716
+v -0.07730446 -0.03098743 0.06874227
+v -0.08310250 -0.03098745 0.07219643
+v -0.08067255 -0.04250666 0.07361887
+v -0.07362878 -0.05037999 0.07096463
+v -0.06855356 -0.04435561 0.06597422
+v -0.06855356 -0.06797563 0.06686109
+v -0.07384409 -0.08041498 0.06886927
+v -0.07093737 -0.07689063 0.06516076
+v -0.08416368 -0.09550194 0.07212591
+v -0.08416368 -0.09550194 0.07013441
+v -0.09062305 -0.09750715 0.06875876
+v -0.10774034 -0.10662183 0.07116526
+v -0.07901157 -0.08485943 0.05936029
+v -0.22520840 -0.07512844 0.05936032
+v -0.22491619 -0.07492010 0.06040126
+v -0.21292023 -0.07943408 0.07154358
+v -0.21957954 -0.03098741 0.06357778
+v -0.09062305 -0.03098746 0.07610913
+v -0.07810419 -0.05421684 0.07417444
+v -0.09062305 -0.04250668 0.07854574
+v -0.09106904 -0.05331408 0.08094887
+v -0.07290594 -0.05814048 0.07145998
+v -0.06855356 -0.05436439 0.06722597
+v -0.06855356 -0.06569262 0.06696152
+v -0.07281366 -0.06579680 0.07155701
+v -0.07298284 -0.07266318 0.07143314
+v -0.08190290 -0.08907827 0.07398689
+v -0.09548294 -0.09611831 0.08342554
+v -0.10627930 -0.10768960 0.08397776
+v -0.10650999 -0.10746387 0.07703934
+v -0.13020968 -0.11846226 0.08234436
+v -0.13706891 -0.11906990 0.08141722
+v -0.14866500 -0.11965151 0.08056708
+v -0.18349940 -0.10873122 0.06964569
+v -0.20041677 -0.09537168 0.05936025
+v -0.21290485 -0.09522413 0.06186050
+v -0.21224355 -0.09330574 0.06961563
+v -0.21290485 -0.09522412 0.05936025
+v -0.21292023 -0.08553657 0.07154356
+v -0.21885670 -0.03098742 0.06413004
+v -0.19749467 -0.08907830 0.08115627
+v -0.20787578 -0.07630905 0.07441201
+v -0.21055180 -0.03098744 0.07002420
+v -0.21064408 -0.03098744 0.06996395
+v -0.10117333 -0.03098748 0.08095566
+v -0.09671329 -0.04886960 0.08275296
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_58.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1505fe605338395ac02e87fc08da83aae7e3e7fc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_58.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_59.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d0a4300e4af47302667cf718032de1bba50370d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_59.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_6.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23161f2afff2d772eba7f5512ac9a61edf758d92
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_6.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_60.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d7619fe77623b56a482ce1d24811381436ff8d7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_60.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_61.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b139c4833ab454b364ac1e54e3f8ea6e18132fd5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_61.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_62.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59064cff77b7963395bc97c03ba88cde4e962cff
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_62.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_63.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eb0416306359be427d8b6f195f9a6c750819be6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_63.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_64.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e11535760ef19c28ceabf78d36e2b466676dc2e1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_64.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.08327791 -0.03959331 0.08607726
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+f 1 14 15
+f 1 15 16
+f 1 16 2
+f 2 16 18
+f 2 18 17
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+f 3 31 40
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+f 4 32 43
+f 4 43 33
+f 4 33 21
+f 4 21 10
+f 4 10 9
+f 4 9 8
+f 4 8 7
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+f 4 6 5
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+f 10 23 22
+f 10 22 28
+f 10 28 27
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+f 10 26 18
+f 10 18 16
+f 10 16 15
+f 10 15 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 17 22 23
+f 17 23 24
+f 17 24 25
+f 17 18 26
+f 17 26 27
+f 17 27 28
+f 17 28 22
+f 19 29 30
+f 19 30 31
+f 21 33 34
+f 21 34 35
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+f 24 38 25
+f 24 35 34
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+f 36 46 47
+f 36 47 37
+f 41 44 42
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_65.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e5bd9cbfa7bbbb243580a2e5b521136116d50e7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_65.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.07861182 0.03723726 0.06252264
+v 0.08004769 0.03539135 0.06252263
+v 0.14157704 0.01571938 0.06175636
+v 0.14157704 0.02734064 0.06072102
+v 0.14157704 0.03316263 0.05958506
+v 0.15237259 0.03707810 0.05373833
+v 0.07011630 0.03723729 0.05373833
+v 0.04800669 0.03723726 0.06252264
+v 0.08011416 0.03523974 0.06252263
+v 0.14157704 0.00407540 0.06083101
+v 0.14978007 0.00407540 0.06005534
+v 0.15245237 0.01571939 0.06052664
+v 0.15110956 0.02541513 0.06025579
+v 0.08233443 0.02963380 0.06252261
+v 0.08303906 0.02735958 0.06252260
+v 0.08136389 0.02024128 0.06252257
+v 0.07971531 0.01991531 0.06252257
+v 0.15426048 0.02851944 0.05918603
+v 0.16219761 0.03535727 0.05373832
+v 0.03685217 0.03723729 0.05373833
+v 0.05186224 0.03220366 0.06252262
+v 0.13387922 -0.00148127 0.06003038
+v 0.14157704 -0.00148127 0.05998223
+v 0.14769275 -0.00148127 0.05965631
+v 0.07163194 0.01955144 0.06252257
+v 0.06853420 0.01959692 0.06252257
+v 0.15557669 0.00407540 0.05878778
+v 0.15826228 0.01571939 0.05940011
+v 0.16479015 0.02735960 0.05677045
+v 0.16913761 0.03121820 0.05373830
+v 0.05460102 0.02185222 0.05373827
+v 0.05599699 0.02289076 0.05759426
+v 0.05831033 0.02514222 0.06252259
+v 0.05367037 0.03000904 0.06252261
+v 0.05276630 0.03107413 0.06252261
+v 0.13120692 -0.00148127 0.05999341
+v 0.14807830 -0.00148127 0.05957031
+v 0.06458558 0.02017306 0.06252257
+v 0.15375527 -0.00148126 0.05805767
+v 0.16479015 -0.00148125 0.05466864
+v 0.16479015 0.00407541 0.05582614
+v 0.16479015 0.01571940 0.05721414
+v 0.17267409 0.01571941 0.05373825
+v 0.17155730 0.02792437 0.05373829
+v 0.09590865 -0.00148125 0.05373818
+v 0.06373469 0.02025265 0.06213044
+v 0.06393412 0.02037773 0.06252257
+v 0.12445305 -0.00148127 0.05963395
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+v 0.16945670 0.00428768 0.05373821
+v 0.17127811 0.01057589 0.05373823
+v 0.09742427 -0.00148125 0.05428769
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+f 1 4 5
+f 1 5 6
+f 1 6 7
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+f 1 20 8
+f 1 8 21
+f 1 21 35
+f 1 35 34
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+f 1 33 47
+f 1 47 38
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+f 1 26 25
+f 1 25 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 9
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+f 6 45 31
+f 6 31 20
+f 6 20 7
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+f 22 48 50
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+f 41 43 42
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+f 45 47 46
+f 47 54 49
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_66.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6012b590bd837c0bb33b41246309ffe8fea0d83b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_66.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.06855357 0.03626002 0.02106035
+v -0.06855357 0.03626006 0.01102905
+v -0.07182964 0.03626001 0.02314591
+v -0.06855357 0.01193460 0.03733023
+v -0.06855357 -0.01918569 0.01102885
+v -0.09335121 0.03626006 0.01102905
+v -0.07386873 0.03626001 0.02437665
+v -0.06855357 -0.01918579 0.03733012
+v -0.07601412 0.03626001 0.02555075
+v -0.09253943 0.03625997 0.03403461
+v -0.10014494 0.03625996 0.03733032
+v -0.07672925 -0.01918569 0.01102885
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+v -0.16728025 0.03625998 0.03147787
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+v -0.16728025 0.03625996 0.03733032
+v -0.13276070 -0.00278968 0.01102891
+v -0.13595947 0.01088722 0.01102896
+v -0.14291749 0.00994828 0.01302698
+v -0.16728025 0.03432785 0.03079298
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+v -0.13305062 -0.00273541 0.01118083
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+v -0.16728025 0.02699008 0.02938455
+v -0.16728025 0.00900927 0.03479665
+v -0.15645666 0.00856427 0.02338784
+v -0.16728025 0.01549497 0.03011574
+v -0.16728025 0.01237966 0.03185113
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+f 1 11 10
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+f 1 7 3
+f 1 3 4
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_67.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8d97c4cf7ea2ffa1ba3796b2c133c7f50f165d3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_67.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.15893599 -0.03097873 0.05936049
+v -0.12117941 -0.03097873 0.05936049
+v -0.15893599 -0.03097879 0.07500434
+v -0.15893599 0.00973881 0.05936064
+v -0.12117941 -0.03097879 0.07500434
+v -0.12117941 -0.00730389 0.05936057
+v -0.15893599 -0.00536691 0.07500443
+v -0.12117941 0.00430629 0.07500447
+v -0.12117941 0.00430629 0.07500294
+v -0.15654456 0.00892574 0.05936063
+v -0.13615637 0.00081491 0.05936060
+f 1 2 5
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+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 6 11 9
+f 9 11 10
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_68.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3878db115ede6cbc6f191b34e9c44227e5830983
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_68.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.15893601 0.02999801 0.08867244
+v -0.17211172 0.02506184 0.08937837
+v -0.16838338 0.02293694 0.09515598
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+v -0.17504115 0.01594766 0.05936066
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+v -0.19502777 0.00406973 0.08582997
+v -0.18350316 0.00406972 0.09076789
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+v -0.16841667 0.00406970 0.09503330
+v -0.16028087 0.00406970 0.09628915
+v -0.15893601 0.00541864 0.09650837
+v -0.15893601 0.01571473 0.09731468
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+v -0.18466161 -0.02037233 0.08560695
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_69.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7962aee155bdfb83721ef646cf14598cef9b8a55
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_69.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.06855356 -0.14417424 0.01102839
+v -0.06645957 -0.14626505 0.01102838
+v -0.06350835 -0.14325759 0.01388691
+v -0.06855356 -0.13663497 0.01429666
+v -0.06855356 -0.05744158 0.01102871
+v -0.06338402 -0.14903564 0.01102837
+v -0.05541376 -0.14720233 0.01524419
+v -0.05578675 -0.13565653 0.01952647
+v -0.06738223 -0.13549173 0.01520626
+v -0.05903898 -0.15102345 0.01199809
+v -0.06855356 -0.13483254 0.01495315
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_7.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aef1f89432b8c69cd1fb6049530120371ccca18
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_7.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_70.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0381255fc457b3526d0c04072e1e9f8eb0190014
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_70.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.01669963 -0.05026967 0.10507872
+v -0.00018562 -0.06378746 0.10507867
+v -0.00018562 -0.06357768 0.10486777
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_71.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fa27e170ccf52659b9ff87620afcc6c4eeeb785
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_71.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.00018562 0.03723729 0.05373833
+v 0.05483298 0.03723729 0.05373833
+v -0.00018562 0.03723728 0.05850252
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+v -0.00018562 0.05735366 0.10325987
+v 0.05485453 0.08603164 0.10181263
+v 0.00815445 0.06747273 0.05373844
+v -0.00018562 0.08017492 0.07079007
+v 0.01966245 0.11470969 0.08283637
+v 0.01800306 0.08220807 0.05775891
+v 0.04806610 0.06152264 0.05373842
+v 0.05485453 0.06006774 0.05588431
+v 0.05485453 0.08944501 0.10378265
+v 0.05485453 0.09169260 0.10507924
+v -0.00018562 0.11123094 0.10507931
+v 0.01442566 0.07326428 0.05373846
+v 0.02878912 0.12868957 0.09269146
+v 0.03484483 0.12868957 0.09269146
+v 0.02342841 0.07652845 0.05373847
+v 0.02610607 0.07616472 0.05373847
+v 0.05485453 0.13251327 0.09972219
+v 0.05485453 0.13251325 0.10507939
+v 0.02630003 0.13251325 0.10507939
+v 0.02831501 0.13251327 0.10096349
+v 0.02837966 0.13251327 0.10090821
+v 0.03806125 0.13251328 0.09722953
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 13
+f 1 13 12
+f 1 12 24
+f 1 24 17
+f 1 17 10
+f 1 10 4
+f 1 4 9
+f 1 9 16
+f 1 16 25
+f 1 25 28
+f 1 28 29
+f 1 29 20
+f 1 20 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 10 9
+f 5 11 21
+f 5 21 30
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+f 5 23 22
+f 5 22 15
+f 5 15 7
+f 5 7 6
+f 7 12 13
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+f 7 14 8
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+f 9 10 16
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+f 10 19 16
+f 11 20 21
+f 12 15 22
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+f 12 32 24
+f 16 19 25
+f 17 24 18
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+f 19 27 28
+f 19 28 25
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+f 24 32 33
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+f 26 34 35
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+f 27 35 30
+f 27 30 29
+f 27 29 28
+f 30 35 34
+f 30 34 33
+f 30 33 32
+f 30 32 31
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_72.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbc3c958bdc52889423987863f4be9c1bc6b4852
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_72.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.04874096 0.05210767 -0.05137294
+v 0.04874096 0.05225555 -0.06155977
+v 0.05535267 0.05536619 -0.05091729
+v 0.05523478 0.05589545 -0.04442680
+v 0.04874096 0.05215202 -0.05089316
+v 0.04874096 0.05229695 -0.06209385
+v 0.05490709 0.05557320 -0.05729613
+v 0.06915354 0.07605572 -0.03599000
+v 0.06915354 0.07605570 -0.03127075
+v 0.05305685 0.05589545 -0.04442680
+v 0.04874096 0.05228804 -0.05065780
+v 0.04874096 0.05860996 -0.05969497
+v 0.05490709 0.05733257 -0.05729612
+v 0.06915354 0.08231256 -0.03598998
+v 0.06347294 0.07605570 -0.03127075
+v 0.06915354 0.08231254 -0.03127073
+v 0.05169615 0.06229423 -0.04225423
+v 0.04874096 0.05341461 -0.05004224
+v 0.04874096 0.06067388 -0.05388039
+v 0.05221166 0.07015670 -0.04726313
+v 0.06347294 0.08231256 -0.03598998
+v 0.06347294 0.08231254 -0.03127073
+v 0.05221166 0.07015668 -0.04198263
+v 0.04874096 0.06178272 -0.05071510
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 18
+f 1 18 24
+f 1 24 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 15
+f 4 15 10
+f 4 10 11
+f 4 11 5
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 8
+f 8 14 16
+f 8 16 9
+f 9 16 22
+f 9 22 15
+f 10 15 17
+f 10 17 11
+f 11 17 18
+f 12 19 20
+f 12 20 21
+f 12 21 14
+f 12 14 13
+f 14 21 22
+f 14 22 16
+f 15 22 17
+f 17 22 23
+f 17 23 24
+f 17 24 18
+f 19 24 20
+f 20 23 22
+f 20 22 21
+f 20 24 23
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_73.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..854fc3bfed74e8deb7c0f30b7a648ac7a8e46460
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_73.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.05449737 -0.04134581 0.10507875
+v -0.05394980 -0.03102799 0.10507879
+v -0.05279174 -0.03086198 0.10030586
+v -0.05052003 -0.03086195 0.09334254
+v -0.05042013 -0.03713630 0.09377170
+v -0.01966692 -0.08806817 0.10507858
+v -0.05005755 -0.02498602 0.10507881
+v -0.05022034 -0.02482665 0.10030588
+v -0.05026104 -0.02478014 0.09367556
+v -0.03954625 -0.02365797 0.06898947
+v -0.03954625 -0.02733627 0.06898946
+v -0.03572060 -0.03211673 0.06728377
+v -0.03129557 -0.03837116 0.06728375
+v -0.03756313 -0.02903599 0.06728378
+v -0.01669963 -0.05490359 0.06728369
+v -0.01797978 -0.08806816 0.10310280
+v -0.01669963 -0.08806817 0.10507858
+v -0.02991922 -0.03993145 0.06728374
+v -0.04906968 -0.02485986 0.10507881
+v -0.03257202 -0.02023864 0.07704430
+v -0.04465205 -0.02301402 0.08935032
+v -0.04129998 -0.02246953 0.07704429
+v -0.03451074 -0.02171259 0.06728381
+v -0.03660856 -0.02270188 0.06728381
+v -0.03756313 -0.02702421 0.06728379
+v -0.01669963 -0.08806816 0.10265141
+v -0.01669963 -0.02398331 0.06728380
+v -0.01669963 -0.05026934 0.10507872
+v -0.04892539 -0.02485986 0.10507881
+v -0.03633107 -0.02397678 0.09700181
+v -0.03250912 -0.02267540 0.08851043
+v -0.02349257 -0.02281478 0.07704429
+v -0.02163894 -0.02150012 0.06728381
+v -0.03299380 -0.02132750 0.06728381
+v -0.02054008 -0.02181218 0.06728381
+v -0.01669963 -0.02467382 0.06922998
+v -0.01669963 -0.04931324 0.10410193
+v -0.02205332 -0.04308537 0.10507874
+v -0.04226565 -0.02597530 0.10507880
+v -0.04209915 -0.02582258 0.10475691
+v -0.02571248 -0.02421575 0.08452557
+v -0.03307520 -0.03149939 0.10507878
+v -0.03169885 -0.02999220 0.10137144
+v -0.02859467 -0.02640682 0.09227696
+v -0.01669963 -0.02657938 0.07360700
+v -0.01669963 -0.04211596 0.09653926
+v -0.02609357 -0.03769407 0.10507876
+v -0.01669963 -0.02791394 0.07596017
+v -0.01669963 -0.02784090 0.07583438
+v -0.02441753 -0.03416845 0.09798596
+v -0.02119496 -0.03108767 0.08823661
+v -0.01669963 -0.03220309 0.08294936
+v -0.02776590 -0.03594788 0.10507877
+v -0.02683724 -0.03677118 0.10507876
+v -0.01669963 -0.03864348 0.09201053
+v -0.01669963 -0.03858372 0.09192913
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 17
+f 1 17 28
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+f 1 38 47
+f 1 47 54
+f 1 54 53
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+f 1 42 39
+f 1 39 29
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+f 20 34 23
+f 20 23 22
+f 20 22 21
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+f 28 37 38
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+f 30 43 44
+f 30 44 41
+f 31 41 32
+f 32 35 33
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+f 36 41 45
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+f 39 42 40
+f 41 48 49
+f 41 49 45
+f 41 44 50
+f 41 50 51
+f 41 51 52
+f 41 52 48
+f 42 53 43
+f 43 53 44
+f 44 53 54
+f 44 54 50
+f 46 55 50
+f 46 50 54
+f 46 54 47
+f 50 55 56
+f 50 56 52
+f 50 52 51
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_74.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fff50c1b4a0a7b4b4860223c52aa6eb392559e0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_74.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.05485453 0.03723725 0.06594029
+v 0.05485453 0.03723723 0.06954862
+v 0.05485453 0.03727460 0.05373833
+v 0.06655621 0.03723729 0.05373833
+v 0.06548178 0.03723720 0.07978057
+v 0.05485453 0.08603164 0.10181263
+v 0.05485453 0.05621605 0.05373840
+v 0.07010541 0.03723729 0.05373833
+v 0.06915828 0.03723718 0.08311250
+v 0.05485453 0.08944501 0.10378265
+v 0.07889440 0.03723716 0.09107795
+v 0.08622195 0.03723713 0.09669145
+v 0.06070537 0.05183275 0.05373838
+v 0.05485453 0.06006774 0.05588431
+v 0.08891568 0.13251329 0.09435996
+v 0.09051461 0.13251329 0.09432980
+v 0.10687557 0.13250396 0.09643550
+v 0.10476235 0.03723718 0.08427339
+v 0.06100071 0.05148768 0.05373838
+v 0.05485453 0.09169260 0.10507924
+v 0.09379393 0.03723712 0.10163656
+v 0.05485453 0.13251327 0.09972219
+v 0.10674827 0.13251329 0.09643048
+v 0.10687557 0.03723717 0.08623836
+v 0.10687557 0.13251328 0.09695313
+v 0.05485453 0.13251325 0.10507939
+v 0.09756209 0.03723711 0.10402368
+v 0.09952256 0.03723710 0.10507904
+v 0.10687557 0.03723710 0.10507904
+v 0.10687557 0.13251325 0.10507939
+f 1 2 6
+f 1 6 10
+f 1 10 20
+f 1 20 26
+f 1 26 22
+f 1 22 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 18
+f 1 18 24
+f 1 24 29
+f 1 29 28
+f 1 28 27
+f 1 27 21
+f 1 21 12
+f 1 12 11
+f 1 11 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 7 13
+f 3 13 19
+f 3 19 8
+f 3 8 4
+f 5 9 6
+f 6 9 11
+f 6 11 12
+f 6 12 10
+f 7 14 15
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+f 7 16 17
+f 7 17 13
+f 8 19 17
+f 8 17 18
+f 10 12 20
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+f 13 17 19
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+f 17 30 29
+f 17 29 24
+f 20 21 27
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 26
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_75.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..493a23e02ee453d3a2b0080f89f3dc9d51137bdc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_75.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.09106274 0.02303543 -0.03011944
+v 0.08353131 0.02345552 -0.03002125
+v 0.09106274 0.01935572 -0.03011945
+v 0.09106274 0.02303545 -0.03491356
+v 0.07629817 0.02259590 -0.03222471
+v 0.08353131 0.01751197 -0.03002128
+v 0.08247493 0.02314243 -0.03898773
+v 0.06563901 0.02188218 -0.04713066
+v 0.06563901 0.02188217 -0.04444726
+v 0.09106274 0.01935574 -0.03491357
+v 0.06984799 0.00902652 -0.04394008
+v 0.06977757 0.00840224 -0.05092128
+v 0.07790553 0.02165657 -0.04525446
+v 0.05451588 0.00990768 -0.08001323
+v 0.04874096 0.01237964 -0.08449100
+v 0.06488090 0.01571495 -0.04373825
+v 0.07629817 0.01835217 -0.03222472
+v 0.05356720 0.01194387 -0.05560631
+v 0.06494718 0.00902652 -0.04394008
+v 0.07191934 0.02188412 -0.04673796
+v 0.04874096 0.01432448 -0.07418283
+v 0.04874096 0.01425641 -0.07347380
+v 0.04874096 0.01318863 -0.06349287
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+v 0.04874096 0.00443092 -0.08476919
+v 0.04874096 0.00510968 -0.08562548
+v 0.05451588 0.00987850 -0.08001323
+v 0.04874096 0.00358680 -0.07406288
+v 0.04874096 0.00397776 -0.08369475
+v 0.04874096 0.00592653 -0.08574002
+v 0.05356720 0.00883401 -0.05560632
+v 0.04874096 0.00705838 -0.06405466
+v 0.04874096 0.00737538 -0.06349289
+f 1 2 6
+f 1 6 3
+f 1 3 10
+f 1 10 4
+f 1 4 2
+f 2 5 17
+f 2 17 6
+f 2 4 7
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 3 6 11
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+f 3 12 10
+f 4 13 7
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+f 10 26 27
+f 11 19 28
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+f 16 31 19
+f 16 19 17
+f 18 23 33
+f 18 33 31
+f 19 31 32
+f 19 32 28
+f 24 29 25
+f 26 30 27
+f 31 33 32
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_76.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13d9081ccbe4d89ee958bda5b49ad2d56247ed9e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_76.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.02277464 -0.04646699 -0.00771440
+v 0.02279751 -0.04830018 -0.00771441
+v 0.02277464 -0.04065851 0.01102877
+v 0.02277464 0.03847786 -0.00771409
+v 0.02304406 -0.05419112 -0.00771443
+v 0.02565188 -0.05419113 -0.00466121
+v 0.03176982 -0.05419115 0.00100485
+v 0.03670078 -0.05419117 0.00507642
+v 0.04500970 -0.05419119 0.01102872
+v 0.02277464 0.03948708 0.01102907
+v 0.02277464 0.03936354 -0.00164069
+v 0.02543583 0.08556411 0.00724574
+v 0.02881633 0.12049777 0.01045505
+v 0.02783522 0.07314376 -0.00457084
+v 0.02870450 0.06846809 -0.00771398
+v 0.04874096 -0.05419112 -0.00771443
+v 0.04874096 -0.05419119 0.01102872
+v 0.02619072 0.09007499 0.01102925
+v 0.02778693 0.10886008 0.01102932
+v 0.02881633 0.12049777 0.01102936
+v 0.02941618 0.12453492 0.01102938
+v 0.04266622 0.15013788 0.00120193
+v 0.04874096 0.15458699 -0.00336320
+v 0.02940855 0.07081623 -0.00771397
+v 0.04874096 0.06834451 -0.00771398
+v 0.04874096 0.14912856 0.01102947
+v 0.03177999 0.13050825 0.01102940
+v 0.04198758 0.15075579 0.00724598
+v 0.04874096 0.15466938 -0.00295769
+v 0.04870029 0.06836510 -0.00771398
+v 0.03602214 0.07242285 -0.00771396
+v 0.04874096 0.15380423 0.01102581
+v 0.04870792 0.15380423 0.01102948
+v 0.04194437 0.15067338 0.01102947
+v 0.04874096 0.15623477 0.00715058
+v 0.04485211 0.15302152 0.01102948
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_77.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0a65b3685a978568baa8183ea2a0fa253e2b0ce
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_77.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.10223281 0.04848089 -0.01764055
+v -0.10223281 0.04848093 -0.02635727
+v -0.11383639 0.04801639 -0.01718349
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+v -0.10223281 0.04119325 -0.01182349
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+v -0.13258809 0.03448310 -0.00950558
+v -0.11383639 0.03698763 -0.00878734
+v -0.09160765 0.03120021 -0.00771596
+v -0.12543996 0.03625950 -0.00886748
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+v -0.07273466 0.03386802 -0.02765134
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+v -0.06776169 0.01508720 -0.03803608
+v -0.13346948 0.03592684 -0.01602309
+v -0.13092234 0.02735240 -0.00771597
+v -0.12543996 0.03193462 -0.00771595
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_78.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b085273b52bb3a7ffd5d19ac0cbedfa10900d3e4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_78.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.00225894 0.07623329 0.15780998
+v 0.00927545 0.07623328 0.16066190
+v 0.00165387 0.07623329 0.15793684
+v -0.01014970 0.08485909 0.14989361
+v -0.00934681 0.08507233 0.14989361
+v -0.00757116 0.08572707 0.14989361
+v -0.00112248 0.08890467 0.14989363
+v 0.00458614 0.09330164 0.14989364
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+v -0.00475757 0.07623327 0.16269174
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+v -0.01013573 0.07623313 0.20173074
+v -0.01014970 0.08951434 0.15436945
+v 0.01052748 0.10691603 0.15667846
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+v -0.00928630 0.10691599 0.16787304
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+f 26 28 33
+f 27 39 38
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_79.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cfa35f9ccfefef67778db2d53b2944080d11c0b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_79.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.14451215 0.08157954 0.10507920
+v 0.16480698 0.07887822 0.10507919
+v 0.14451215 0.13250796 0.10507939
+v 0.14451215 0.13250801 0.09311275
+v 0.17788884 0.13250806 0.07824418
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+v 0.17395984 0.13250796 0.10507939
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_8.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c535e9d0a3e1440adebb0bd993caea2c404c19f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_8.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.04693152 -0.09811410 0.01102635
+v 0.04874211 -0.08906291 -0.00147529
+v 0.04874211 -0.09811408 0.00457711
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+f 20 55 54
+f 20 54 50
+f 20 50 53
+f 20 53 65
+f 20 65 67
+f 20 67 68
+f 20 68 66
+f 20 66 62
+f 20 62 47
+f 20 47 42
+f 20 42 41
+f 20 41 38
+f 20 38 39
+f 20 39 21
+f 21 39 22
+f 22 39 40
+f 22 40 23
+f 23 40 41
+f 23 41 42
+f 23 42 43
+f 24 30 26
+f 26 30 44
+f 26 44 51
+f 26 51 31
+f 27 45 28
+f 27 46 47
+f 27 47 45
+f 28 48 44
+f 28 44 29
+f 28 45 48
+f 29 44 49
+f 29 49 30
+f 30 49 44
+f 31 50 32
+f 31 51 52
+f 31 52 53
+f 31 53 50
+f 32 50 54
+f 32 54 33
+f 33 54 55
+f 33 55 56
+f 33 56 34
+f 34 56 35
+f 35 56 57
+f 35 57 37
+f 35 37 58
+f 35 58 59
+f 35 59 36
+f 36 59 37
+f 37 59 58
+f 37 57 60
+f 38 41 40
+f 38 40 39
+f 42 47 61
+f 42 61 43
+f 44 48 63
+f 44 63 51
+f 45 47 62
+f 45 62 48
+f 46 61 47
+f 48 62 63
+f 51 63 64
+f 51 64 52
+f 52 64 53
+f 53 64 65
+f 56 60 57
+f 62 66 63
+f 63 66 64
+f 64 67 65
+f 64 66 68
+f 64 68 67
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_80.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52ee96a3c2bbf0c1e19747a0a51ebf0642c4ee18
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_80.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.04874096 0.02710298 -0.00439094
+v 0.08353064 0.02745509 0.00724267
+v 0.04874096 0.02783927 0.00614832
+v 0.04874096 0.02869094 -0.01795393
+v 0.07210737 0.02860125 -0.00490950
+v 0.08353064 0.02970254 -0.00145869
+v 0.09532785 0.02995222 0.00670885
+v 0.09532785 0.03001624 0.00829889
+v 0.09532785 0.03013788 0.01102903
+v 0.08843740 0.02867162 0.01102903
+v 0.08353064 0.02916464 0.01102903
+v 0.07748383 0.02999061 0.01102903
+v 0.04874096 0.02889573 0.00680799
+v 0.04874096 0.02926080 -0.02021888
+v 0.09164322 0.03159778 0.00038683
+v 0.09532785 0.02997143 0.00667072
+v 0.09532785 0.09250827 0.01102926
+v 0.07456531 0.03091903 0.01102903
+v 0.06788463 0.03634226 0.01102905
+v 0.06688139 0.03764845 0.01102906
+v 0.04874096 0.06180009 0.01102915
+v 0.04874096 0.03991521 -0.02792500
+v 0.09532785 0.03948610 0.00318564
+v 0.09532785 0.09250833 -0.00550792
+v 0.04874096 0.09250827 0.01102926
+v 0.04874096 0.09250830 0.00310575
+v 0.08353064 0.09250833 -0.00418479
+v 0.09479887 0.09250833 -0.00548123
+f 1 2 3
+f 1 3 13
+f 1 13 21
+f 1 21 25
+f 1 25 26
+f 1 26 22
+f 1 22 14
+f 1 14 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 4 14 5
+f 5 14 6
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 23
+f 7 23 24
+f 7 24 17
+f 7 17 9
+f 7 9 8
+f 9 17 25
+f 9 25 21
+f 9 21 20
+f 9 20 19
+f 9 19 18
+f 9 18 12
+f 9 12 11
+f 9 11 10
+f 12 18 13
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 14 22 15
+f 15 23 16
+f 15 22 24
+f 15 24 23
+f 17 24 28
+f 17 28 27
+f 17 27 26
+f 17 26 25
+f 22 26 27
+f 22 27 28
+f 22 28 24
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_81.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67d33ab696102dd1d608607401d1ac86a403bba3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_81.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.05711473 0.22106110 0.09045127
+v 0.05953004 0.22104007 0.09045127
+v 0.05292443 0.22054575 0.09045127
+v 0.05256495 0.22049840 0.09697364
+v 0.06031642 0.22045632 0.09666721
+v 0.06823641 0.22095593 0.09045127
+v 0.05264359 0.22033015 0.09045127
+v 0.05256495 0.22049843 0.09061881
+v 0.03884820 0.21092762 0.10507967
+v 0.04299355 0.21306264 0.10507968
+v 0.05736187 0.21537118 0.10507969
+v 0.06031642 0.21647024 0.10248221
+v 0.06667489 0.21976745 0.09491312
+v 0.06961820 0.22067722 0.09045127
+v 0.05225039 0.21932048 0.09045127
+v 0.03970198 0.21098023 0.10280007
+v 0.03784837 0.20201947 0.10507964
+v 0.06031642 0.21407755 0.10507969
+v 0.07441513 0.21722753 0.09177006
+v 0.07520151 0.21773238 0.09045126
+v 0.06779829 0.20948674 0.10507967
+v 0.15260397 0.16734398 0.09045107
+v 0.05053159 0.21375157 0.09045125
+v 0.06118145 0.16734392 0.10507951
+v 0.05096971 0.21071208 0.09045123
+v 0.03983679 0.20201948 0.10326827
+v 0.07383096 0.20399146 0.10507965
+v 0.14157216 0.16734396 0.09493154
+v 0.08707588 0.16734398 0.09045107
+v 0.10347757 0.16734392 0.10507951
+v 0.05141907 0.20529041 0.09191607
+v 0.05503643 0.20382324 0.09045121
+v 0.07969512 0.19820168 0.10507963
+v 0.13113575 0.16734395 0.09788414
+v 0.08535707 0.19164940 0.10507960
+v 0.09036745 0.18559144 0.10507958
+f 1 2 6
+f 1 6 14
+f 1 14 20
+f 1 20 22
+f 1 22 29
+f 1 29 32
+f 1 32 25
+f 1 25 23
+f 1 23 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 7 15 8
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 9 17 24
+f 9 24 30
+f 9 30 36
+f 9 36 35
+f 9 35 33
+f 9 33 27
+f 9 27 21
+f 9 21 18
+f 9 18 11
+f 9 11 10
+f 11 18 12
+f 12 18 13
+f 13 19 20
+f 13 20 14
+f 13 18 21
+f 13 21 22
+f 13 22 19
+f 15 23 16
+f 16 23 17
+f 17 23 25
+f 17 25 26
+f 17 26 24
+f 19 22 20
+f 21 27 28
+f 21 28 22
+f 22 28 34
+f 22 34 30
+f 22 30 24
+f 22 24 29
+f 24 26 31
+f 24 31 32
+f 24 32 29
+f 25 31 26
+f 25 32 31
+f 27 33 28
+f 28 33 35
+f 28 35 34
+f 30 34 36
+f 34 35 36
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_82.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c9a4744c96b46a10318ebbe155eddd86145fd2b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_82.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.15258837 0.16734397 0.09045107
+v 0.14157618 0.16734395 0.09493154
+v 0.15377581 0.16687688 0.09045107
+v 0.08708454 0.16734397 0.09045107
+v 0.14157618 0.16467777 0.09714670
+v 0.15039244 0.16277191 0.09568471
+v 0.13113331 0.16734394 0.09788414
+v 0.15535362 0.16612681 0.09045107
+v 0.09502243 0.15291529 0.09045102
+v 0.03807460 0.13251328 0.09723393
+v 0.02839623 0.13251327 0.10091109
+v 0.06117254 0.16734391 0.10507951
+v 0.14250335 0.15513819 0.10353730
+v 0.10348083 0.16734391 0.10507951
+v 0.12996214 0.15854420 0.10446090
+v 0.14528486 0.15160942 0.10507946
+v 0.14790372 0.15036499 0.10507945
+v 0.15382459 0.15632809 0.09896091
+v 0.15811887 0.16079786 0.09411102
+v 0.16132330 0.16284353 0.09045106
+v 0.10681539 0.14816938 0.09045100
+v 0.15314142 0.13251331 0.09045095
+v 0.02833117 0.13251327 0.10096550
+v 0.02761545 0.13596700 0.10507940
+v 0.14102313 0.15328686 0.10507946
+v 0.12996214 0.15746681 0.10507948
+v 0.15271850 0.14781474 0.10507944
+v 0.15319022 0.14768518 0.10500212
+v 0.16478799 0.15288799 0.09687746
+v 0.17181498 0.15056278 0.09519638
+v 0.16478799 0.15871130 0.09230680
+v 0.16478799 0.16073652 0.09045105
+v 0.19247300 0.13251331 0.09045095
+v 0.02629789 0.13251325 0.10507939
+v 0.15319022 0.14753517 0.10507944
+v 0.16294992 0.14135389 0.10507942
+v 0.16496692 0.14352570 0.10298884
+v 0.16652847 0.15960799 0.09045105
+v 0.16830148 0.13781831 0.10507941
+v 0.16929372 0.13707847 0.10507940
+v 0.17597911 0.14363822 0.09754470
+v 0.18373807 0.13964580 0.09564596
+v 0.17955767 0.14740907 0.09270341
+v 0.17474289 0.15374038 0.09045102
+v 0.19222900 0.13389753 0.09045095
+v 0.18902457 0.13251329 0.09538103
+v 0.17394585 0.13251325 0.10507939
+v 0.17083901 0.13574539 0.10507940
+v 0.17695508 0.13257463 0.10380642
+v 0.18090776 0.14869102 0.09045101
+v 0.17698761 0.13251326 0.10382217
+v 0.18721903 0.13251328 0.09720959
+v 0.19148078 0.13474307 0.09130008
+v 0.18656838 0.14199151 0.09045098
+v 0.17765454 0.15146970 0.09045102
+v 0.19177356 0.13517266 0.09045096
+v 0.17689001 0.13251326 0.10386513
+v 0.19050479 0.13696261 0.09045096
+f 1 2 3
+f 1 3 8
+f 1 8 20
+f 1 20 32
+f 1 32 38
+f 1 38 44
+f 1 44 55
+f 1 55 50
+f 1 50 54
+f 1 54 58
+f 1 58 56
+f 1 56 45
+f 1 45 33
+f 1 33 22
+f 1 22 21
+f 1 21 9
+f 1 9 4
+f 1 4 12
+f 1 12 14
+f 1 14 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 5
+f 3 6 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 6
+f 5 7 14
+f 5 14 15
+f 5 15 13
+f 6 13 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 8
+f 8 19 20
+f 9 21 10
+f 10 21 22
+f 10 22 33
+f 10 33 46
+f 10 46 52
+f 10 52 51
+f 10 51 57
+f 10 57 47
+f 10 47 34
+f 10 34 23
+f 10 23 11
+f 11 23 12
+f 12 23 24
+f 12 24 34
+f 12 34 47
+f 12 47 48
+f 12 48 40
+f 12 40 39
+f 12 39 36
+f 12 36 35
+f 12 35 27
+f 12 27 17
+f 12 17 16
+f 12 16 25
+f 12 25 26
+f 12 26 14
+f 13 15 25
+f 13 25 16
+f 14 26 15
+f 15 26 25
+f 17 27 28
+f 17 28 18
+f 18 29 19
+f 18 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 20 31 32
+f 23 34 24
+f 27 35 28
+f 28 35 36
+f 28 36 37
+f 28 37 29
+f 29 37 30
+f 30 38 31
+f 30 37 39
+f 30 39 40
+f 30 40 41
+f 30 41 42
+f 30 42 43
+f 30 43 44
+f 30 44 38
+f 31 38 32
+f 33 45 46
+f 36 39 37
+f 40 48 49
+f 40 49 41
+f 41 49 42
+f 42 50 43
+f 42 49 51
+f 42 51 52
+f 42 52 46
+f 42 46 53
+f 42 53 54
+f 42 54 50
+f 43 50 55
+f 43 55 44
+f 45 56 53
+f 45 53 46
+f 47 57 48
+f 48 57 51
+f 48 51 49
+f 53 56 58
+f 53 58 54
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_83.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a97027b446ac819e00a435cb8c420cd02106d35
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_83.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.05578600 -0.03426204 0.20173033
+v -0.05578600 -0.03400980 0.19336738
+v -0.02766984 -0.03334269 0.20173034
+v -0.06417760 -0.03018601 0.20173035
+v -0.06374873 -0.02968156 0.19336739
+v -0.05578600 -0.03254125 0.18173638
+v -0.04418142 -0.02907125 0.15847437
+v -0.02766984 0.00729554 0.20173049
+v -0.03758751 -0.02565826 0.14989321
+v -0.02766984 -0.01953608 0.14989323
+v -0.06417760 -0.02185497 0.20173038
+v -0.06374873 -0.02233902 0.19336742
+v -0.06294102 -0.02798114 0.18173640
+v -0.05670092 -0.02929502 0.16979581
+v -0.05407408 -0.02843259 0.15847438
+v -0.05110414 -0.02705761 0.14989320
+v -0.04491051 -0.02740338 0.14989320
+v -0.04041449 0.00729554 0.20173049
+v -0.02766984 0.00729573 0.14989333
+v -0.03426375 0.00729573 0.14989333
+v -0.05064667 -0.01270609 0.14989325
+v -0.06294102 -0.02319323 0.18173641
+v -0.06216547 -0.02630921 0.17346478
+v -0.05221206 -0.02698439 0.14989320
+v -0.05275530 -0.01990219 0.14989323
+v -0.06216547 -0.02415730 0.17346479
+v -0.05233000 -0.02595115 0.14989320
+f 1 2 3
+f 1 3 8
+f 1 8 18
+f 1 18 11
+f 1 11 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 9
+f 3 9 10
+f 3 10 19
+f 3 19 8
+f 4 11 12
+f 4 12 5
+f 5 12 22
+f 5 22 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 9
+f 8 19 20
+f 8 20 18
+f 9 17 16
+f 9 16 24
+f 9 24 27
+f 9 27 25
+f 9 25 21
+f 9 21 20
+f 9 20 19
+f 9 19 10
+f 11 18 12
+f 12 18 20
+f 12 20 21
+f 12 21 22
+f 13 22 26
+f 13 26 23
+f 13 23 15
+f 13 15 14
+f 15 24 16
+f 15 23 24
+f 21 25 26
+f 21 26 22
+f 23 26 25
+f 23 25 27
+f 23 27 24
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_84.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9626d4ce913bca7a2c4d5b28c0f73534e853fb3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_84.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.10687926 0.03723717 0.08624433
+v 0.12805535 0.03723713 0.09718560
+v 0.10687926 0.03723710 0.10507904
+v 0.10687926 0.13250396 0.09643552
+v 0.14451215 0.13251330 0.09311663
+v 0.14444214 0.04210536 0.10507905
+v 0.13992546 0.03723711 0.10442448
+v 0.13992546 0.03723710 0.10507904
+v 0.10687926 0.13251325 0.10507939
+v 0.10687926 0.13251328 0.09695179
+v 0.14451215 0.13251325 0.10507939
+v 0.14451215 0.08158304 0.10507920
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 6
+f 3 6 12
+f 3 12 11
+f 3 11 9
+f 4 10 5
+f 5 10 9
+f 5 9 11
+f 5 11 12
+f 5 12 6
+f 6 8 7
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_85.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e505caefcd13f3b12355a53abf676aca09c69a73
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_85.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.04463107 -0.03958554 0.06252543
+v 0.05554857 -0.03958557 0.07042038
+v 0.05567778 -0.03906546 0.07033024
+v 0.06405740 -0.03085799 0.07266140
+v 0.06606924 -0.02498530 0.07126724
+v 0.05094347 -0.03085795 0.06252869
+v 0.05093425 -0.03086653 0.06252547
+v 0.13026380 -0.03958554 0.06252543
+v 0.05625918 -0.03958557 0.07090335
+v 0.06098426 -0.03958558 0.07396538
+v 0.07357215 -0.03958561 0.08177662
+v 0.07746664 -0.03632777 0.08299373
+v 0.07293537 -0.03181250 0.07843449
+v 0.08081664 -0.02856611 0.08132590
+v 0.08855949 -0.02444237 0.08321271
+v 0.07192945 -0.02251906 0.07301883
+v 0.07888785 -0.01397151 0.07054927
+v 0.07192945 -0.01669494 0.06828575
+v 0.06333757 -0.01728076 0.06252552
+v 0.06183330 -0.02054718 0.06425775
+v 0.05792957 -0.02208750 0.06252550
+v 0.12591710 -0.03100370 0.06252547
+v 0.13834811 -0.03958561 0.08215334
+v 0.07662683 -0.03958562 0.08340585
+v 0.08372368 -0.03958563 0.08626825
+v 0.08400054 -0.03532185 0.08514455
+v 0.08423125 -0.03181252 0.08422048
+v 0.09513952 -0.03085804 0.08796835
+v 0.09513030 -0.02276487 0.08439117
+v 0.08371445 -0.01920408 0.07688582
+v 0.07192945 -0.01196819 0.06252554
+v 0.08661224 -0.01258836 0.07244573
+v 0.12159809 -0.02296483 0.06252550
+v 0.13888337 -0.03958562 0.08514453
+v 0.13630857 -0.03612487 0.08240772
+v 0.08644613 -0.03958563 0.08726960
+v 0.09513952 -0.03958564 0.09027368
+v 0.11328306 -0.03721086 0.09437249
+v 0.10674917 -0.03085805 0.09098530
+v 0.10085206 -0.02210759 0.08514460
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+v 0.12851958 -0.03958566 0.09541570
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_86.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e971513031b4034e8febc3226d03dca9b2f991b5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_86.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.02285054 0.05196441 -0.03803595
+v -0.03268325 0.05156836 -0.03803595
+v -0.02146662 0.05182862 -0.03803595
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+v -0.04057629 0.03609957 -0.03803601
+v -0.01468870 0.04657806 -0.03803597
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+v -0.04201106 0.06188847 -0.05064524
+v -0.04407422 0.00427943 -0.05572835
+v -0.04407422 -0.04480878 -0.05057515
+v -0.02411096 0.06188846 -0.04983073
+v -0.00697001 0.03854380 -0.03803600
+v -0.04091410 0.02727320 -0.03803604
+v -0.04407422 -0.05371435 -0.05079448
+v -0.04169868 0.06188847 -0.05165556
+v -0.03950839 0.05773561 -0.06958276
+v -0.04407422 0.00451716 -0.07934148
+v -0.04407422 0.00864742 -0.07384349
+v -0.04407422 0.01141978 -0.06659898
+v -0.04407422 0.01192899 -0.06450004
+v -0.04407422 0.01179319 -0.06336441
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+v -0.00697001 0.03860038 -0.03824746
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+v -0.00697001 0.04123718 -0.09655583
+v -0.00697001 -0.03695562 -0.03803628
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_87.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d165f281768fcce880aceaf0a21c297de908c2a3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_87.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.00225601 0.06970642 0.14987973
+v -0.00356099 0.06883828 0.14987972
+v 0.00893871 0.06667313 0.14987971
+v 0.01237074 0.06981118 0.10508355
+v 0.01230573 0.06981118 0.10524582
+v 0.01041691 0.06981117 0.10963159
+v 0.00684459 0.06981114 0.11628040
+v 0.00176328 0.06981111 0.12420986
+v -0.00912820 0.06981108 0.13427519
+v -0.02258599 0.06981107 0.13686717
+v -0.00478256 0.06797012 0.14987972
+v 0.00953068 0.06187216 0.14987970
+v -0.02258599 0.06981118 0.10508355
+v 0.00892503 0.05072222 0.14987966
+v 0.00413456 -0.03704445 0.14987933
+v 0.00413456 -0.01975454 0.10508322
+v -0.02258599 0.05838921 0.12312214
+v -0.02255519 0.02686382 0.14987957
+v -0.02258599 0.04547165 0.10508346
+v -0.02056373 -0.01617751 0.14987941
+v -0.02056373 -0.01559176 0.14630063
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+v -0.02056373 -0.00642898 0.10508327
+v -0.02258599 0.04969731 0.11184631
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_88.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09da94a419a734d3710ea9ea397697b3ff7f198c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_88.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.04407658 0.00428208 -0.05572612
+v -0.04407658 0.00129235 -0.05750930
+v -0.04407658 0.01179802 -0.06336010
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+v -0.06702410 0.00577228 -0.03803612
+v -0.05163207 -0.00278878 -0.05391065
+v -0.04407658 -0.00378221 -0.07339594
+v -0.04407658 0.01142870 -0.06659080
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_89.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..048dbe9955ab2ab9f1a2c6d3d08489580dc0948c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_89.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.02218922 -0.01106621 0.01102888
+v -0.02218922 -0.02305475 0.01102884
+v -0.02218922 -0.01106618 0.00179509
+v -0.07040812 -0.01106621 0.01102888
+v -0.02286894 -0.05419117 0.00179493
+v -0.02218922 -0.02570993 0.00179504
+v -0.04994577 -0.05419120 0.01102872
+v -0.04868781 -0.01106618 0.00179509
+v -0.06845015 -0.01106620 0.00893374
+v -0.10666613 -0.03587068 0.01102879
+v -0.07445595 -0.05419117 0.00179493
+v -0.12580963 -0.05419120 0.01102872
+v -0.07695160 -0.02328268 0.00179504
+v -0.09722119 -0.03620835 0.00179500
+v -0.11733861 -0.04475233 0.01102876
+v -0.08144582 -0.05419117 0.00242582
+v -0.07947770 -0.05416162 0.00179493
+v -0.12365890 -0.05068750 0.01102873
+v -0.12574876 -0.05419120 0.01049273
+v -0.09753569 -0.03798131 0.00179499
+v -0.11383861 -0.05419119 0.00797098
+v -0.12563716 -0.05419120 0.01046652
+v -0.12544441 -0.05419120 0.01042133
+f 1 2 6
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+f 1 9 4
+f 1 4 10
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+f 1 15 18
+f 1 18 12
+f 1 12 7
+f 1 7 2
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_9.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d8de756c9fc79ac804ffa88dc3504b64b3948f6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_9.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v -0.01136089 0.12810675 0.26336710
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+v -0.04852112 0.01811680 0.26336670
+v -0.00066502 0.12050565 0.26336707
+v 0.00225789 0.11302316 0.21355614
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+v 0.00360512 0.10886717 0.25153573
+v 0.00545611 0.09721792 0.23989747
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+v -0.01359847 0.01811703 0.20173656
+v -0.02704738 0.01811680 0.26336670
+v -0.00024914 0.10886712 0.26336703
+v -0.00017885 0.10886712 0.26316794
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+v 0.00327710 0.08557940 0.23989742
+v 0.00645189 0.08609623 0.22769206
+v 0.00827358 0.09032746 0.22342050
+v 0.01051702 0.08557953 0.20500683
+v 0.00906435 0.07534065 0.20173677
+v -0.01597077 0.01811698 0.21562520
+v -0.01187050 0.02134696 0.20173657
+v -0.02434120 0.02494272 0.26336672
+v -0.02642648 0.01811681 0.26162912
+v -0.00027842 0.10865179 0.26336703
+v -0.00188925 0.09783152 0.26336699
+v -0.00191854 0.09768079 0.26336699
+v -0.00262730 0.08778646 0.25970476
+v -0.00090518 0.08456730 0.25257940
+v 0.00023704 0.07393012 0.23989738
+v 0.00339425 0.07393016 0.22827119
+v 0.00748867 0.08256487 0.21951692
+v 0.00823844 0.07899044 0.21176412
+v 0.00882419 0.08609628 0.21604175
+v 0.00881248 0.07642806 0.20500680
+v 0.00837316 0.07209996 0.20173675
+v -0.01652724 0.01811697 0.21867201
+v -0.00724304 0.03017544 0.20173660
+v -0.00457200 0.03531103 0.20173662
+v -0.02377302 0.02650385 0.26336673
+v -0.02572358 0.01910732 0.26074825
+v -0.00363479 0.05670383 0.23379766
+v -0.02593445 0.01811681 0.26000617
+v -0.00495860 0.08462110 0.26336694
+v -0.00362894 0.08002386 0.25715263
+v -0.00252186 0.07393009 0.24865168
+v -0.00345907 0.06789012 0.24594876
+v -0.00252186 0.06519853 0.23989735
+v -0.00081146 0.06126882 0.22926666
+v 0.00269721 0.06230244 0.21663896
+v 0.00632302 0.07464079 0.21604170
+v 0.00745938 0.07061418 0.20500678
+v 0.00774640 0.06938682 0.20173674
+v -0.01781004 0.01811694 0.22568272
+v -0.00299047 0.03872400 0.20173663
+v -0.02005934 0.01811690 0.23645820
+v -0.01834893 0.01811693 0.22827099
+v -0.00464815 0.07393007 0.25446780
+v -0.00831497 0.07393003 0.26316781
+v -0.00840283 0.07395155 0.26336690
+v -0.02543656 0.01811682 0.25820220
+v -0.00254529 0.05400148 0.22604486
+v -0.00498203 0.08453497 0.26336694
+v -0.00569665 0.08230631 0.26336693
+v -0.00154951 0.05033016 0.21646395
+v 0.00117424 0.05065320 0.20500671
+v 0.00511051 0.06230249 0.20500675
+v 0.00665690 0.06552166 0.20173673
+v -0.00202397 0.04097418 0.20173664
+v -0.00228170 0.04196468 0.20500667
+v -0.02082667 0.01811689 0.23989718
+v -0.02362072 0.01811685 0.25131218
+v -0.00415612 0.04623890 0.22022268
+v -0.00312519 0.04392415 0.21246384
+v 0.00180686 0.05065321 0.20173668
+v 0.00569041 0.06229173 0.20173672
+v -0.02299396 0.01811686 0.24876612
+f 1 2 6
+f 1 6 14
+f 1 14 30
+f 1 30 42
+f 1 42 53
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+f 29 102 91
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+f 29 54 42
+f 29 42 30
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+f 31 44 34
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+f 34 44 45
+f 35 45 46
+f 35 46 47
+f 35 47 48
+f 35 48 36
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+f 38 49 40
+f 40 49 50
+f 41 52 51
+f 42 54 53
+f 43 55 44
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_90.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27563ccf100eaac2212ab36a6af0823a418b66a0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_90.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.06854959 -0.05744158 0.01102871
+v -0.04831014 -0.05744158 0.01102871
+v -0.06854959 -0.05744161 0.02011048
+v -0.06854959 0.00708299 0.01102895
+v -0.04895802 -0.04539699 0.03365011
+v -0.05147802 -0.04674862 0.03365011
+v -0.05585820 -0.04826447 0.03365010
+v -0.04871159 -0.05744158 0.01121473
+v -0.02794747 -0.02116862 0.01102884
+v -0.02794747 -0.02101072 0.01157362
+v -0.02794747 -0.02030333 0.01398746
+v -0.02794747 -0.01894540 0.01861581
+v -0.06772284 -0.05744161 0.01981373
+v -0.05890286 -0.04821394 0.03365010
+v -0.06420121 -0.04811920 0.03365010
+v -0.06854959 -0.04499276 0.03365011
+v -0.06854959 0.00708291 0.03365031
+v -0.06651849 0.00708299 0.01102895
+v -0.03558298 -0.02588674 0.02581077
+v -0.04443475 -0.03441341 0.03365015
+v -0.06739691 -0.05744161 0.01969636
+v -0.05698703 -0.05744160 0.01501707
+v -0.02794747 -0.00442482 0.01102890
+v -0.02794747 -0.00791761 0.01861585
+v -0.03478008 -0.01921702 0.02683834
+v -0.04724888 0.00708291 0.03365031
+v -0.05098118 0.00708294 0.02326198
+v -0.04418037 0.00450605 0.01102894
+v -0.04169217 -0.02056867 0.03365020
+v -0.03364330 0.00189753 0.01102893
+v -0.02794747 -0.00616805 0.01481574
+v -0.04234006 -0.00757660 0.03365025
+v -0.04591336 0.00413332 0.03365030
+v -0.04642611 0.00708292 0.03077808
+v -0.03633818 0.00335653 0.01102893
+f 1 2 8
+f 1 8 22
+f 1 22 21
+f 1 21 13
+f 1 13 3
+f 1 3 16
+f 1 16 17
+f 1 17 4
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+f 1 23 9
+f 1 9 2
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+f 25 32 29
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+f 27 35 28
+f 30 35 34
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_91.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..467acc189f9a4aaf0dedd0f70dd0c170cdbb920a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_91.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00018562 -0.07748991 0.05373791
+v -0.00018562 -0.07572029 0.05110481
+v 0.00257511 -0.07798903 0.05373790
+v -0.00018562 0.05560883 0.05373839
+v -0.00018562 -0.07460104 0.04972943
+v 0.04877884 -0.07147021 0.05373793
+v 0.00399892 0.06158315 0.05373842
+v -0.00018562 0.04736585 0.03409053
+v -0.00018562 -0.06967032 0.04582711
+v 0.01387202 -0.05059782 0.03016245
+v 0.06810393 -0.04300515 0.03016248
+v 0.05244867 -0.07041148 0.05373793
+v 0.00815672 0.06746671 0.05373844
+v -0.00018562 0.04473415 0.03016280
+v 0.01428647 0.07312341 0.05373846
+v -0.00018562 -0.04441176 0.03016248
+v 0.00166600 -0.04550075 0.03016247
+v 0.06810393 -0.05177765 0.05373800
+v 0.06810393 0.00618089 0.03016266
+v 0.01442684 0.07324441 0.05373846
+v 0.01847769 0.06914560 0.04723763
+v 0.02521574 0.04951360 0.03016282
+v 0.06810393 0.04018147 0.05373834
+v 0.04891253 0.03939507 0.03016278
+v 0.05563052 0.03512984 0.03506203
+v 0.06810393 0.03512979 0.04987753
+v 0.02343096 0.07652650 0.05373847
+v 0.02317026 0.06914560 0.04723763
+v 0.03707416 0.04865149 0.03016282
+v 0.06099823 0.05147974 0.05373838
+v 0.04841787 0.03984882 0.03016279
+v 0.04531623 0.04641299 0.03373053
+v 0.06069742 0.05181249 0.05373838
+v 0.02610479 0.07614838 0.05373847
+v 0.03715437 0.04863636 0.03016282
+v 0.03726133 0.04857585 0.03016282
+v 0.05198075 0.05517023 0.04887143
+v 0.04807028 0.06150752 0.05373842
+f 1 2 3
+f 1 3 6
+f 1 6 12
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+f 1 18 23
+f 1 23 30
+f 1 30 33
+f 1 33 38
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+f 1 34 27
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+f 1 20 15
+f 1 15 13
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+f 31 36 32
+f 32 36 37
+f 32 37 33
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+f 34 36 35
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_92.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b126f6c7150704ff8c1803aff70ab4b205cec63b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_92.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.15807652 -0.03959256 0.05373804
+v 0.15530909 -0.03959256 0.05513960
+v 0.16324110 -0.07789215 0.06515603
+v 0.17802347 -0.10110315 0.06515595
+v 0.18259363 -0.10573548 0.06202645
+v 0.16142862 -0.04761629 0.05373802
+v 0.08327791 -0.03959256 0.05373804
+v 0.15268782 -0.03959257 0.05623492
+v 0.14594465 -0.03959258 0.05876980
+v 0.14482403 -0.03959258 0.05914645
+v 0.13970818 -0.03959258 0.06052566
+v 0.11826058 -0.03959260 0.06515617
+v 0.18111248 -0.10926085 0.06515592
+v 0.18282750 -0.11161578 0.06208790
+v 0.18259363 -0.10573547 0.05904897
+v 0.16406938 -0.05504070 0.05373799
+v 0.08327791 -0.05079617 0.05373800
+v 0.08327791 -0.03959260 0.06515617
+v 0.18120990 -0.11161579 0.06515591
+v 0.18140480 -0.11161579 0.06479937
+v 0.18282750 -0.11161576 0.05804752
+v 0.16455659 -0.05707836 0.05373798
+v 0.08327791 -0.06016662 0.06515610
+v 0.09052780 -0.06569435 0.05373795
+v 0.08546067 -0.06579311 0.06515608
+v 0.12914516 -0.11161579 0.06515591
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+v 0.16595005 -0.06292342 0.05373796
+v 0.09769973 -0.07450072 0.05373792
+v 0.14663650 -0.11161575 0.05373778
+v 0.17732187 -0.11161575 0.05373778
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 22
+f 1 22 28
+f 1 28 31
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+f 25 29 26
+f 26 29 30
+f 27 31 28
+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_93.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4d0692279118d3bafea94035ab7347d7ccc52ce
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_93.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.06855356 0.00708693 0.01102895
+v -0.06651857 0.00708693 0.01102895
+v -0.06855356 0.00708685 0.03365031
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+v -0.04936654 0.01146536 0.03365032
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_94.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fa17c03588b0cb6286d6f7cb43895f9196fb63b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_94.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+v -0.02258130 0.06981108 0.13686590
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+v -0.02095466 0.08198455 0.14988854
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+v -0.02258599 0.08162462 0.14988854
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+v -0.01582628 0.13968996 0.12818149
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+v -0.01661382 0.13160427 0.12401896
+v -0.01581222 0.12736221 0.11712824
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+v 0.02530387 0.19037657 0.11643107
+v 0.02530387 0.13091019 0.10507939
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diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_95.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..858ace50ab65812d9e21479e7d38a1eed355e024
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_95.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.01669963 -0.10107190 0.06881834
+v -0.01673012 -0.10072436 0.06875401
+v -0.01669963 -0.10009803 0.06857178
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_96.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ee78b02c9ccaee738d0cfb379897e7c00c43028
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_96.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.05176242 0.02308405 0.00179521
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_97.obj b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04a2dacaa6eaa47582480400f7c71ae6faa2fe38
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_collision_97.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+v -0.13652928 0.01571162 -0.00764432
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+v -0.08200448 0.00122299 -0.00771514
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+
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6018aee4e8a8aa5e46be94ebd1238a060d04cb3d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/mjcf/mesh/houseplant_001_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae2281a2e4469e248af4da73662f3accb0b1eadcdd0f8321b7801c1a8df0969b
+size 11288153
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/textures/material_0.png b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6018aee4e8a8aa5e46be94ebd1238a060d04cb3d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae2281a2e4469e248af4da73662f3accb0b1eadcdd0f8321b7801c1a8df0969b
+size 11288153
diff --git a/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/video.mp4 b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e55a98858ba7f16da3ccfde1db7c6de413bfcdf5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/20349235fc6f563faafe9a9016f97db7/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b51f947ccd765c366300d5d9f54accfaefdb7d8e5df33f7ec3e6b061f62c9fc
+size 403396