diff --git a/.gitattributes b/.gitattributes
index 6e9c2b7687847fb781b2c55f999bce9e2e3c026f..f336beb5172ca1f45a3265a6e1ab7f6f41ef2e67 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4910,5 +4910,5 @@ dataset/livingroom_supplies/ornaments/32cf2ba420cb58309ec8f46a5e04baa2/mesh/phot
 dataset/livingroom_supplies/ornaments/32cf2ba420cb58309ec8f46a5e04baa2/mjcf/mesh/photo_frame_026.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/32cf2ba420cb58309ec8f46a5e04baa2/photo_frame_026.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/3ae47f1efdba5592bd109c32f8a764e0/3ae47f1efdba5592bd109c32f8a764e0.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/381e863cd7d656ac946d8bef1eb9f27b/mesh/photo_frame_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/381e863cd7d656ac946d8bef1eb9f27b/photo_frame_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/houseplant_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mesh/houseplant_021.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/houseplant_021.urdf b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/houseplant_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2a34991079d64635342af06aaf606bd089972b9c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/houseplant_021.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="houseplant_021">
+   <link name="houseplant_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/houseplant_021.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_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.4000" />
+         <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>38ec252c3abb586fad3e97d8d67812e1</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>houseplant</category>
+         <name>potted palm</name>
+         <color>green,beige</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>small potted palm with beige planter and broad green fronds</description>
+         <min_height>0.2500</min_height>
+         <max_height>0.2500</max_height>
+         <real_height>0.2500</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>2.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518200212</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.084297 -0.090646 -0.072114</min>
+            <max>0.082991 0.080692 0.177886</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>16</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/38ec252c3abb586fad3e97d8d67812e1/houseplant_021.usd b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/houseplant_021.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f6e75fe759fef9434051fe8ff7d8fbb524530f1d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/houseplant_021.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:982d25db8bf245adfd03aab1ce6994f6c38381015cf81d41e81c68a20614e3da
+size 5050761
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mesh/houseplant_021.glb b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mesh/houseplant_021.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9bafb2760a18bd31675bb88228de7518ab4f66df
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mesh/houseplant_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:293cc78532d9684eebed7e16eb9bb66869720a64d945bfac4814bd07f84ee438
+size 13949128
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mesh/houseplant_021.mtl b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mesh/houseplant_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..afe1ba863e6ca9a32bac551a03ca4ca271a2a74e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mesh/houseplant_021.mtl
@@ -0,0 +1,6 @@
+newmtl houseplant_021_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/38ec252c3abb586fad3e97d8d67812e1/mesh/houseplant_021.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mesh/houseplant_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..393e73167ce38990a4f93660114fc510b814336f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mesh/houseplant_021.obj
@@ -0,0 +1,122856 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl houseplant_021_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mesh/houseplant_021_collision.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mesh/houseplant_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0287524b9c6b884378ed65e5fcbd756ddc9809b5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mesh/houseplant_021_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mesh/houseplant_021_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mesh/houseplant_021_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mesh/material.mtl
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/houseplant_021.xml b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/houseplant_021.xml
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index 0000000000000000000000000000000000000000..06d7dd80c159eb237faaed466652ca197d90dc0f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/houseplant_021.xml
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+    <mesh name="collision_mesh_0_46" file="mesh/houseplant_021_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/houseplant_021_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/houseplant_021_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/houseplant_021_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/houseplant_021_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/houseplant_021_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/houseplant_021_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/houseplant_021_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/houseplant_021_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/houseplant_021_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/houseplant_021_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/houseplant_021_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/houseplant_021_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/houseplant_021_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/houseplant_021_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/houseplant_021_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/houseplant_021_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/houseplant_021_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/houseplant_021_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/houseplant_021_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/houseplant_021_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/houseplant_021_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/houseplant_021_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/houseplant_021_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/houseplant_021_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/houseplant_021_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/houseplant_021_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/houseplant_021_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_74" file="mesh/houseplant_021_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_75" file="mesh/houseplant_021_collision_75.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_76" file="mesh/houseplant_021_collision_76.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_77" file="mesh/houseplant_021_collision_77.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_78" file="mesh/houseplant_021_collision_78.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_79" file="mesh/houseplant_021_collision_79.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_80" file="mesh/houseplant_021_collision_80.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_81" file="mesh/houseplant_021_collision_81.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_82" file="mesh/houseplant_021_collision_82.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_83" file="mesh/houseplant_021_collision_83.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_84" file="mesh/houseplant_021_collision_84.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_85" file="mesh/houseplant_021_collision_85.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_86" file="mesh/houseplant_021_collision_86.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="houseplant_021">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+      <geom type="mesh" mesh="collision_mesh_0_86" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b6b47cc343ecc3c902d6d4951e0e97be514524f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021.obj
@@ -0,0 +1,122856 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl houseplant_021_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd8c5f85da750d57a2c7eb5e35618f09cd90e10a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision.obj
@@ -0,0 +1,24044 @@
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_0.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abc9407b47c774d0bd2fc77dae13ae039cbc587c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_0.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_1.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feef673b73084500c2db0085f646cf2204c8db50
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_1.obj
@@ -0,0 +1,766 @@
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_10.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54a5959235f37cffc2b790739995b0c4a89ff7b8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_10.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_11.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7090779cb25a151ad19062b5a8c13d87f2fb141a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_11.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_12.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e66ed3c0865962d255732f3e8c327e1b6490929
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_12.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_13.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e57ce835534f72de941bec7ef4ec14f762f98569
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_13.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_14.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2fed42de00c33fcce988c64d21848ced1a8536f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_14.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_15.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae2d595e37e522e8f5bf20d13783b7a675885192
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_15.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_16.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f12d4f628d03c7a1c9c3ec21265adaade11870ee
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_16.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_17.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0f4bd4dec0f569fcea5a7ee40a9ec39cdc4994f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_17.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_18.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72d37e3a8497718ab83bc2a9f0d9afb46aa8b067
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_18.obj
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_19.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b498091f062b8ee25d114bc61ece840b6e2588ec
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_19.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_2.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21044a048abde6fa06cce56408b0841f85942481
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_2.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_20.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6923a2a59be5e2dd7f02746798501895ede7cc57
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_20.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_21.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78bd050da3bef93d36083971ae74337c43d161af
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_21.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_22.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc8a05473c72e9e1a5b0815a8a145811ab64dacb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_22.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+v 0.02287655 -0.02835694 -0.04039289
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+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_23.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d942cbc9e2070b04b9c06ee9be20beb92f085522
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_23.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_24.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fbcf28533711074d40daefad3199e3027a7b5fc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_24.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_25.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7af861c4c032be81472c4af1b521625dec8105e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_25.obj
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_26.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e979a662c486bc1ca2ae015028fe905a97f2a22d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_26.obj
@@ -0,0 +1,121 @@
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_27.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db932fd1d19df64be107b539ca5649f903d11605
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_27.obj
@@ -0,0 +1,508 @@
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_28.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3dbdc38b99451dda849e0acc9a674e19f3e3b8e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_28.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_29.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2cd7a31e486cc48bd04d9c16c21c25501fb780d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_29.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_3.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3060ee0d136f46a7d3140c872accee3feeffacb3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_3.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
+v 0.03832040 -0.00055283 0.16071437
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_30.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c06224836448f5f4254ec0ef50bf29cf96f1656d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_30.obj
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_31.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcc747b8fc42aba232214ee2eaf6d41ea5f00164
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_31.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_32.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..121afcbc2393df62b364191d06efd6c8fffaa233
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_32.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_33.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce0631c4279d1c91166df08c48897a35db3a02b7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_33.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_34.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dbe6926fd28b831b49455b0ab57f99310579f8d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_34.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_35.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaa9be9845fd58688958e15a5d3bccedf866bb7c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_35.obj
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_36.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc95c4abba082398ba6263db63dddc0b85097c32
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_36.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_37.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5974d8276eeacd10c9e2ced9916f7a755ea525f2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_37.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_38.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cffd4c1a277e18cedc9e630b247792aeff86c6eb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_38.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_39.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..082ba21bf4efd55d8a4cf17dec0446d579060e84
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_39.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_4.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..588658d0c8ce23fe9b6f166b0d6e608f2f0ddae4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_4.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_40.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e63276be15c0571f9b425e5a06adf4ba3657216d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_40.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_41.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cc3b232274b721b70e4c9b75da78a5c9cb27b22
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_41.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+f 4 10 11
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+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 7
+f 7 14 15
+f 7 15 9
+f 8 9 20
+f 8 20 25
+f 8 25 16
+f 9 15 17
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+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 23 24
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+f 13 24 29
+f 13 29 30
+f 13 30 25
+f 13 25 20
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+f 13 18 17
+f 13 17 15
+f 13 15 14
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+f 22 28 23
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+f 24 28 29
+f 25 30 31
+f 25 31 26
+f 27 32 28
+f 28 32 30
+f 28 30 29
+f 30 32 31
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_42.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a85f96f0b089e72f245e5687ebf4dd770eaeedd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_42.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.04183388 -0.00284490 0.16811879
+v -0.04119106 -0.00779265 0.16811877
+v -0.04026178 0.01353433 0.16811885
+v -0.02147094 0.02061621 0.15072687
+v -0.02147094 0.01846517 0.15072686
+v -0.01879362 -0.00779259 0.15214191
+v -0.02590531 -0.00779265 0.16811877
+v -0.03969338 0.01764274 0.16811886
+v -0.02550834 0.02415030 0.15496871
+v -0.02044918 0.02334494 0.15126547
+v -0.01908910 0.02187694 0.15033649
+v -0.01879362 0.02157111 0.15019552
+v -0.01879362 0.01736076 0.14971655
+v -0.01879362 0.01674909 0.14965510
+v -0.01879362 -0.00779263 0.16242746
+v -0.02537752 -0.00779265 0.16786213
+v -0.02463996 0.00944292 0.16811883
+v -0.03960316 0.01772429 0.16811887
+v -0.02698120 0.02692321 0.15875147
+v -0.02660453 0.02692321 0.15755140
+v -0.01879362 0.02231531 0.15045397
+v -0.02348964 0.02692322 0.15617782
+v -0.01879362 0.02454790 0.15239686
+v -0.01879362 -0.00693969 0.16258651
+v -0.02038152 -0.00693969 0.16411913
+v -0.02046948 -0.00779263 0.16404142
+v -0.02467154 -0.00779264 0.16741210
+v -0.02446403 0.00944292 0.16802666
+v -0.02498506 0.01353433 0.16811885
+v -0.03742206 0.01914813 0.16811887
+v -0.02683685 0.02692320 0.16133416
+v -0.02320093 0.02692322 0.15613084
+v -0.01910263 0.02692322 0.15600070
+v -0.01879362 0.02692322 0.15600613
+v -0.01879362 -0.00412939 0.16294076
+v -0.01879362 -0.00284488 0.16305283
+v -0.02011536 -0.00284488 0.16423302
+v -0.02080781 -0.00779263 0.16434144
+v -0.01879362 0.02692319 0.16416264
+v -0.02593012 0.01667765 0.16811886
+v -0.03515300 0.02058896 0.16811888
+v -0.02651431 0.02692319 0.16203179
+v -0.01879362 -0.00029285 0.16315585
+v -0.01910037 0.02692319 0.16417710
+v -0.03056524 0.02108170 0.16811888
+v -0.02837963 0.02058556 0.16811888
+v -0.03137498 0.02114286 0.16811888
+v -0.02320093 0.02692319 0.16368912
+v -0.02592561 0.02692319 0.16251977
+v -0.02108750 0.02692319 0.16394937
+f 1 2 7
+f 1 7 17
+f 1 17 29
+f 1 29 40
+f 1 40 46
+f 1 46 45
+f 1 45 47
+f 1 47 41
+f 1 41 30
+f 1 30 18
+f 1 18 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 15
+f 2 15 26
+f 2 26 38
+f 2 38 27
+f 2 27 16
+f 2 16 7
+f 2 5 6
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 6
+f 6 14 13
+f 6 13 12
+f 6 12 21
+f 6 21 23
+f 6 23 34
+f 6 34 39
+f 6 39 43
+f 6 43 36
+f 6 36 35
+f 6 35 24
+f 6 24 15
+f 7 16 17
+f 8 18 19
+f 8 19 20
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+f 10 21 11
+f 10 20 22
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+f 10 23 21
+f 11 21 12
+f 15 24 25
+f 15 25 26
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 18 30 31
+f 18 31 19
+f 19 31 42
+f 19 42 49
+f 19 49 48
+f 19 48 50
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+f 19 44 39
+f 19 39 34
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+f 19 33 32
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+f 19 22 20
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+f 23 32 33
+f 23 33 34
+f 24 35 25
+f 25 35 36
+f 25 36 37
+f 25 37 27
+f 25 27 38
+f 25 38 26
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+f 28 39 29
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+f 29 39 40
+f 30 41 31
+f 31 41 42
+f 36 43 37
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+f 39 44 45
+f 39 45 46
+f 39 46 40
+f 41 47 48
+f 41 48 49
+f 41 49 42
+f 44 50 47
+f 44 47 45
+f 47 50 48
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_43.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eeb8b3ea2721720822a47b579f3d4a11a44f822a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_43.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.05916409 -0.01921822 0.12151591
+v -0.04388852 -0.01921823 0.12546790
+v -0.05916409 -0.01921825 0.13102275
+v -0.05916409 0.01762995 0.12104524
+v -0.04974844 0.01553060 0.12219685
+v -0.04388852 0.01354876 0.12379775
+v -0.04388852 -0.01921825 0.13102275
+v -0.05916409 0.01524074 0.13102288
+v -0.05916409 0.02052829 0.12146918
+v -0.04974844 0.01581260 0.12219685
+v -0.04388852 0.01368976 0.12380947
+v -0.04388852 0.01799417 0.13102289
+v -0.04765657 0.01738708 0.13102288
+v -0.05916409 0.01998385 0.12698691
+v -0.05916409 0.02072021 0.12339145
+v -0.04388852 0.01991728 0.12576302
+v -0.05739071 0.02025804 0.12174169
+v -0.04388852 0.01761818 0.12434378
+v -0.04388852 0.01991727 0.12665383
+v -0.05916409 0.02079461 0.12427249
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 20
+f 1 20 15
+f 1 15 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 18
+f 2 18 16
+f 2 16 19
+f 2 19 12
+f 2 12 7
+f 3 7 12
+f 3 12 13
+f 3 13 8
+f 4 9 10
+f 4 10 5
+f 5 10 6
+f 6 10 11
+f 8 13 14
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 10 18 11
+f 10 17 18
+f 12 19 14
+f 12 14 13
+f 14 19 20
+f 15 20 16
+f 16 18 17
+f 16 20 19
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_44.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..562815b49ddac1fb30530833b9f15c6a3c5708ff
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_44.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.05916409 -0.01921317 0.13102277
+v -0.04388852 -0.01921317 0.13102277
+v -0.05916409 -0.01921320 0.14001772
+v -0.05916409 0.01523734 0.13102290
+v -0.04388852 -0.01921322 0.14311352
+v -0.04388852 0.01798891 0.13102291
+v -0.05600760 -0.01921321 0.14085390
+v -0.05916409 -0.01512647 0.14104483
+v -0.05916409 0.01710049 0.13156423
+v -0.05214684 0.03005622 0.13282217
+v -0.04780760 0.02991408 0.13204642
+v -0.04765657 0.01738478 0.13102290
+v -0.04643495 -0.01921321 0.14290205
+v -0.04388852 0.00535295 0.14336615
+v -0.04780760 0.00535295 0.14336374
+v -0.05081008 -0.01102956 0.14290451
+v -0.04388852 0.02963994 0.13380578
+v -0.05190760 -0.01921321 0.14190517
+v -0.05600760 -0.01512647 0.14176742
+v -0.05600760 -0.01102956 0.14207557
+v -0.05916409 -0.01417712 0.14111614
+v -0.05916409 0.02112630 0.13341786
+v -0.05135435 0.03172646 0.13320644
+v -0.05135286 0.03172646 0.13320523
+v -0.05427459 0.02879213 0.13390848
+v -0.05094316 0.03258442 0.13340220
+v -0.04780760 0.03172646 0.13293577
+v -0.04534042 0.03224936 0.13415258
+v -0.04388852 0.02968055 0.13382028
+v -0.04848495 -0.01921321 0.14256493
+v -0.05285858 -0.01102956 0.14268458
+v -0.04388852 0.02172533 0.14176756
+v -0.04803039 0.00961230 0.14302783
+v -0.05129304 0.00535295 0.14302419
+v -0.05017011 0.01155669 0.14281637
+v -0.05104782 0.00943462 0.14293116
+v -0.05309334 0.00943463 0.14271728
+v -0.05600760 0.00943463 0.14214573
+v -0.05916409 0.00943463 0.14107392
+v -0.05916409 0.02108568 0.13631549
+v -0.05427459 0.02879212 0.13507696
+v -0.05094316 0.03258441 0.13533797
+v -0.04780760 0.03264027 0.13338528
+v -0.04388852 0.03048266 0.13657531
+v -0.04534042 0.03224935 0.13523285
+v -0.04780760 0.02581716 0.14018826
+v -0.05600760 0.01353153 0.14168657
+v -0.04388852 0.02581715 0.14076585
+v -0.05916409 0.01353153 0.14089269
+v -0.05916409 0.02106537 0.13680124
+v -0.05916409 0.02003987 0.13868626
+v -0.05916409 0.01990788 0.13890014
+v -0.05014917 0.02819305 0.13883008
+v -0.04780760 0.03080756 0.13770391
+v -0.04780760 0.03172645 0.13667803
+v -0.04780760 0.03264026 0.13564731
+v -0.04388852 0.03048266 0.13659102
+v -0.04388852 0.02886826 0.13936539
+v -0.05916409 0.01779089 0.13968315
+v -0.04780760 0.02876672 0.13916239
+v -0.05916409 0.01968958 0.13898956
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+f 1 5 13
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+f 1 30 18
+f 1 18 7
+f 1 7 3
+f 1 3 8
+f 1 8 21
+f 1 21 39
+f 1 39 49
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+f 1 51 50
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+f 2 6 17
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+f 18 30 19
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+f 28 56 45
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+f 28 57 44
+f 31 34 37
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+f 32 35 33
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+f 34 36 37
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+f 35 37 36
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+f 38 47 49
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+f 40 50 41
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+f 41 51 52
+f 41 52 42
+f 42 53 54
+f 42 54 55
+f 42 55 56
+f 42 52 53
+f 45 56 58
+f 45 58 57
+f 46 59 47
+f 46 48 60
+f 46 60 53
+f 46 53 59
+f 47 59 49
+f 48 58 60
+f 52 61 53
+f 53 60 54
+f 53 61 59
+f 54 60 58
+f 54 58 55
+f 55 58 56
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_45.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a14183b6df75f245a754d499754562766480fa9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_45.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.01879258 -0.00727997 0.13503877
+v -0.01879258 -0.00727992 0.12331765
+v -0.03113809 -0.00727997 0.13503877
+v -0.01879258 -0.03221455 0.13503868
+v -0.03113809 -0.02332212 0.12401252
+v -0.03113809 -0.00727993 0.12534663
+v -0.01879258 -0.03957825 0.12263276
+v -0.02034574 -0.04085155 0.12208493
+v -0.02136949 -0.04085155 0.12208493
+v -0.03113809 -0.02741461 0.12368280
+v -0.03113809 -0.01574102 0.13503874
+v -0.01940780 -0.03176942 0.13503868
+v -0.02173089 -0.04223874 0.12679087
+v -0.01909958 -0.04252515 0.12710790
+v -0.01879258 -0.04233881 0.12726768
+v -0.01879258 -0.03974388 0.12271138
+v -0.02034574 -0.04195577 0.12208493
+v -0.02136949 -0.04195577 0.12208493
+v -0.03113809 -0.03051333 0.12507644
+v -0.03113809 -0.02334630 0.13275358
+v -0.02767521 -0.02366723 0.13503871
+v -0.02762082 -0.02372589 0.13503871
+v -0.03113809 -0.02612409 0.13144742
+v -0.02175023 -0.04226979 0.12427241
+v -0.03113809 -0.02820485 0.12957443
+v -0.03113809 -0.03051334 0.12736918
+v -0.01902706 -0.04249408 0.12399596
+v -0.01879258 -0.04249753 0.12405556
+v -0.01879258 -0.04252515 0.12711297
+f 1 2 6
+f 1 6 3
+f 1 3 11
+f 1 11 21
+f 1 21 22
+f 1 22 12
+f 1 12 4
+f 1 4 15
+f 1 15 29
+f 1 29 28
+f 1 28 16
+f 1 16 7
+f 1 7 2
+f 2 5 6
+f 2 7 8
+f 2 8 9
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+f 2 10 5
+f 3 6 5
+f 3 5 10
+f 3 10 19
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+f 3 26 25
+f 3 25 23
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+f 3 20 11
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+f 4 14 15
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+f 7 17 8
+f 8 17 18
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+f 9 18 10
+f 10 18 19
+f 11 20 21
+f 12 22 23
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+f 13 24 14
+f 13 23 25
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+f 13 26 24
+f 14 24 27
+f 14 27 28
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+f 14 29 15
+f 16 28 17
+f 17 28 27
+f 17 27 18
+f 18 27 24
+f 18 24 19
+f 19 24 26
+f 20 23 21
+f 21 23 22
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_46.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c09efbc05296c71d7869a03d8d6b064ada3f2111
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_46.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.01762412 0.01499557 0.15636464
+v -0.00040585 0.01499557 0.15469002
+v 0.01762059 0.00154904 0.14879046
+v 0.01762412 0.01450461 0.15605451
+v 0.01762412 0.01499569 0.12384624
+v -0.00040585 0.01119827 0.15130426
+v -0.00040585 0.01499570 0.12114275
+v 0.01762412 0.00154905 0.14658317
+v 0.01762412 0.00330488 0.14877587
+v -0.00040585 0.01097451 0.15109629
+v -0.00040585 0.00818940 0.14836726
+v -0.00040585 0.00154907 0.14159942
+v 0.01762412 0.00154914 0.12137621
+v 0.01523271 0.00154915 0.11909229
+v 0.01372728 0.00567946 0.11909230
+v 0.01017634 0.00972027 0.11909232
+v 0.00993103 0.00994271 0.11909232
+v 0.00567062 0.01351494 0.11909233
+v 0.00151610 0.01471139 0.11909233
+v 0.00156198 0.01499570 0.12043496
+v -0.00040585 0.01452580 0.11909233
+v -0.00040585 0.00154915 0.11909229
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 13
+f 1 13 5
+f 1 5 20
+f 1 20 7
+f 1 7 2
+f 2 6 3
+f 2 7 21
+f 2 21 22
+f 2 22 12
+f 2 12 11
+f 2 11 10
+f 2 10 6
+f 3 8 9
+f 3 9 4
+f 3 6 10
+f 3 10 11
+f 3 11 12
+f 3 12 22
+f 3 22 14
+f 3 14 13
+f 3 13 8
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 7 20 19
+f 7 19 21
+f 14 22 21
+f 14 21 19
+f 14 19 18
+f 14 18 17
+f 14 17 16
+f 14 16 15
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_47.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86bee3e7478469c74d3199283d9a36c8622e0a97
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_47.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.03200503 -0.03154302 0.14174500
+v 0.03200503 -0.03154299 0.13336135
+v 0.03418704 -0.03154302 0.14146103
+v 0.05045820 -0.01119881 0.14086984
+v 0.05045820 -0.01103422 0.14087620
+v 0.05045820 -0.00694398 0.14097370
+v 0.04242016 0.00534320 0.14145057
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_48.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1bc20f161af61382e88dade06c93ab316cf3201
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_48.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_49.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c86242e21156a7a137d6150421da45cf273ef4a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_49.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_5.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5af1ade5a23ad614f252e4f781b35723bc73fc4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_5.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_50.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18a6f319ce37ddd0609cd74d7f5232190503db26
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_50.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+v -0.03113930 0.01788737 0.14176969
+v -0.04388728 0.02582005 0.14076742
+v -0.03113930 0.01399380 0.14233527
+f 1 2 7
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+f 1 26 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 17
+f 1 17 25
+f 1 25 24
+f 1 24 34
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+f 1 48 61
+f 1 61 56
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+f 39 49 50
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+f 39 52 53
+f 39 53 40
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+f 41 54 55
+f 41 55 42
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+f 44 57 58
+f 44 58 59
+f 44 59 51
+f 44 51 60
+f 45 52 46
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+f 51 59 52
+f 52 59 58
+f 56 61 57
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_51.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6724d3149695fa53fb907f847683ce96048f1543
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_51.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.01879382 -0.04261940 0.14270770
+v -0.01879382 -0.04381466 0.14269163
+v -0.01879382 -0.04261938 0.13574886
+v -0.02430164 -0.04261940 0.14291180
+v -0.01879382 -0.04756176 0.14254055
+v -0.01879382 -0.06374536 0.13134044
+v -0.04388852 -0.05914626 0.12659462
+v -0.04388852 -0.05599474 0.12746569
+v -0.04388852 -0.04261937 0.13294121
+v -0.02756653 -0.04261941 0.14301305
+v -0.01879382 -0.04764241 0.14252769
+v -0.02767953 -0.04387258 0.14294877
+v -0.02929847 -0.04586398 0.14279608
+v -0.02943113 -0.04586398 0.14279608
+v -0.01879382 -0.06374539 0.13928606
+v -0.02320106 -0.06374536 0.13053366
+v -0.04388852 -0.06017610 0.12665729
+v -0.04388852 -0.04261940 0.14071326
+v -0.02938691 -0.04261941 0.14297448
+v -0.03022708 -0.04379812 0.14290056
+v -0.01879382 -0.05198713 0.14182054
+v -0.03227593 -0.04379812 0.14270609
+v -0.03104023 -0.04749351 0.14240716
+v -0.01879382 -0.06017614 0.14013624
+v -0.01910090 -0.05198713 0.14181250
+v -0.02009831 -0.06374539 0.13905625
+v -0.03550151 -0.05198713 0.14099287
+v -0.03550151 -0.05595548 0.13956894
+v -0.02763286 -0.06374537 0.13236096
+v -0.03960412 -0.06373917 0.13250400
+v -0.03960412 -0.06335037 0.12930422
+v -0.04388852 -0.06294092 0.12818084
+v -0.04383448 -0.04261940 0.14072933
+v -0.04388852 -0.04379191 0.14048826
+v -0.04370427 -0.04379812 0.14054290
+v -0.03064963 -0.04261940 0.14292466
+v -0.03208677 -0.04261940 0.14278805
+v -0.03269848 -0.04261940 0.14272217
+v -0.03553345 -0.04261940 0.14234770
+v -0.03550151 -0.04379812 0.14223842
+v -0.03550151 -0.04789263 0.14179644
+v -0.02013761 -0.06374539 0.13904499
+v -0.03960412 -0.05712387 0.13829770
+v -0.03960412 -0.06017613 0.13665522
+v -0.04188390 -0.06237846 0.13469772
+v -0.03960412 -0.05198712 0.13988717
+v -0.03960412 -0.05507661 0.13907074
+v -0.02764514 -0.06374537 0.13289614
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+v -0.02249354 -0.06374539 0.13836840
+v -0.03960412 -0.06261422 0.13497576
+v -0.04343159 -0.06300712 0.13219383
+v -0.04388852 -0.06294093 0.13174383
+v -0.04388852 -0.06295540 0.12830780
+v -0.04370427 -0.04261940 0.14076790
+v -0.04388852 -0.04397596 0.14044326
+v -0.04171193 -0.05412536 0.13870914
+v -0.03960412 -0.04261940 0.14161807
+v -0.04279286 -0.06017613 0.13533255
+v -0.04388852 -0.06017612 0.13441167
+v -0.04388852 -0.06209309 0.13264864
+v -0.04388852 -0.06288303 0.13190455
+v -0.04388852 -0.04785953 0.13934879
+v -0.04388852 -0.05198712 0.13808076
+v -0.04388852 -0.05471472 0.13706987
+v -0.04388852 -0.05601958 0.13657004
+v -0.04369445 -0.05606715 0.13666325
+v -0.04388852 -0.05625739 0.13645272
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+f 1 6 3
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+f 34 46 35
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+f 39 59 40
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+f 42 45 51
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+f 43 60 45
+f 43 45 44
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+f 45 52 51
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+f 58 68 60
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+f 60 69 61
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_52.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e02cc3d7901fb64987858830a3e0e901176197e4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_52.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.05916409 -0.04265557 0.11643520
+v -0.05543790 -0.04265557 0.11643520
+v -0.05916409 -0.04265559 0.12224649
+v -0.05916409 -0.03428557 0.11643523
+v -0.04541070 -0.04212099 0.12175964
+v -0.04780760 -0.04265328 0.12094218
+v -0.05411011 -0.04265557 0.11729656
+v -0.05601507 -0.04020514 0.11643521
+v -0.04780760 -0.03970038 0.11993619
+v -0.05575041 -0.04265562 0.12962682
+v -0.05916409 -0.04171259 0.12287799
+v -0.05916409 -0.01921822 0.12151565
+v -0.04388852 -0.01921823 0.12546732
+v -0.04388852 -0.02741614 0.12370711
+v -0.04541070 -0.04212099 0.12304717
+v -0.04504735 -0.03970039 0.12153364
+v -0.04388852 -0.03678880 0.12398731
+v -0.04459279 -0.03991378 0.12436052
+v -0.04780760 -0.04265329 0.12366315
+v -0.05254009 -0.04265558 0.11988323
+v -0.05262383 -0.04265558 0.11909806
+v -0.05262682 -0.04265558 0.11907869
+v -0.04388852 -0.03150247 0.12303298
+v -0.04515800 -0.03638268 0.12176095
+v -0.05916409 -0.03520336 0.12627955
+v -0.05916409 -0.03653183 0.12568680
+v -0.05916409 -0.03883541 0.12457102
+v -0.05376770 -0.04265562 0.12962682
+v -0.05916409 -0.02392408 0.12962689
+v -0.05916409 -0.03119045 0.12773369
+v -0.05916409 -0.03150938 0.12763294
+v -0.05916409 -0.03272312 0.12724165
+v -0.05916409 -0.01921825 0.12962691
+v -0.04388852 -0.01921825 0.12954039
+v -0.04476175 -0.03869087 0.12702209
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+v -0.04388852 -0.03555213 0.12962685
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+v -0.04390348 -0.01921825 0.12962691
+v -0.04388852 -0.01922284 0.12962691
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+f 16 23 36
+f 16 36 17
+f 17 37 18
+f 18 37 38
+f 18 38 35
+f 19 28 39
+f 19 39 20
+f 28 35 38
+f 34 40 41
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_53.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9414bab6b1f2eff69500b7b41ad7fc9404e2145
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_53.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.01879137 -0.08391738 0.11706299
+v -0.02217123 -0.07975898 0.12015762
+v -0.01879137 -0.08269512 0.11425505
+v -0.01879137 -0.08288668 0.12155178
+v -0.02248052 -0.07997620 0.12427398
+v -0.02955378 -0.07068987 0.12981883
+v -0.02129332 -0.07851302 0.11803084
+v -0.01879137 -0.08099700 0.11497541
+v -0.02964838 -0.06836780 0.12972574
+v -0.02954528 -0.06602992 0.13011043
+v -0.01879137 -0.08234171 0.12347765
+v -0.01932492 -0.08193496 0.12412205
+v -0.02170570 -0.07911925 0.12689571
+v -0.02955378 -0.07068987 0.13076217
+v -0.02730054 -0.06531315 0.12967184
+v -0.02320007 -0.06374536 0.13053188
+v -0.01879137 -0.06374536 0.13133799
+v -0.02964838 -0.06836780 0.13112971
+v -0.02954528 -0.06602992 0.13103906
+v -0.02764491 -0.06374537 0.13289388
+v -0.02763215 -0.06374537 0.13235973
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+v -0.01909853 -0.07973531 0.12763567
+v -0.02524605 -0.07041345 0.13455999
+v -0.02624832 -0.06768462 0.13528282
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+v -0.01879137 -0.06374539 0.13928648
+v -0.01879137 -0.07973926 0.12771162
+v -0.01879137 -0.07959512 0.12790764
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+v -0.01879137 -0.07767981 0.12975265
+v -0.02313842 -0.06434763 0.13788740
+v -0.02340839 -0.06374539 0.13795356
+v -0.02009761 -0.06374539 0.13905616
+v -0.01879137 -0.06431604 0.13914926
+v -0.01879137 -0.07117564 0.13514560
+v -0.01879137 -0.06802029 0.13732384
+v -0.01879137 -0.06782284 0.13744390
+v -0.01983402 -0.06576338 0.13848280
+v -0.02249434 -0.06374539 0.13836765
+v -0.01879137 -0.06444043 0.13911005
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+f 1 27 36
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+f 1 39 38
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+f 31 40 41
+f 31 41 33
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+f 35 41 40
+f 35 40 36
+f 36 40 42
+f 39 42 40
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_54.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..039ebf76ba773ea58e0dc4fc14c10db357d8f031
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_54.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.04388852 -0.06295714 0.12830917
+v -0.04388852 -0.06294125 0.12818087
+v -0.04388852 -0.06294126 0.13174214
+v -0.05103436 -0.06279023 0.12427276
+v -0.05105979 -0.06276240 0.12144085
+v -0.04905464 -0.06276240 0.12144085
+v -0.04388852 -0.06017534 0.12665803
+v -0.04388852 -0.06288363 0.13190131
+v -0.05022543 -0.06244052 0.12668178
+v -0.05308287 -0.06135958 0.12427276
+v -0.05451234 -0.05932687 0.12140997
+v -0.05916409 -0.04792342 0.11643518
+v -0.05697054 -0.04766511 0.11643518
+v -0.04873765 -0.06017532 0.12114864
+v -0.04388852 -0.05914607 0.12659626
+v -0.04388852 -0.06209282 0.13264730
+v -0.05031963 -0.05858375 0.13082511
+v -0.04865391 -0.06131390 0.12942340
+v -0.05163845 -0.05991107 0.12806210
+v -0.05421179 -0.05850824 0.12670080
+v -0.05825198 -0.05422028 0.12661766
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+v -0.05821908 -0.05419245 0.12427279
+v -0.05808152 -0.05405733 0.12219875
+v -0.05916409 -0.04750417 0.11732847
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+v -0.05913418 -0.05198688 0.12427280
+v -0.05524053 -0.04348644 0.11643520
+v -0.05411011 -0.04265984 0.11729759
+v -0.04388852 -0.05599468 0.12746580
+v -0.05262682 -0.04265985 0.11907942
+v -0.04388852 -0.06017536 0.13441012
+v -0.05430898 -0.05437925 0.13072059
+v -0.05305147 -0.05710741 0.12944242
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+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_55.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02cebe42e8c791a25c75041ffb825f2172192e66
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_55.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.00551067 0.01564573 0.14339553
+v 0.00143320 0.01544545 0.14339553
+v 0.00814607 0.01507572 0.14339553
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+v -0.00016750 0.01499561 0.14339553
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+v -0.00079120 0.04635851 0.14316189
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+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_56.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3f95f4c11307c8fc9d28daf0c8dd04a98a735af
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_56.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.05045820 -0.00694226 0.14097438
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+v 0.05477949 0.00130119 0.14031697
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+v 0.05045820 -0.01938624 0.13993653
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+v 0.05232655 -0.02516779 0.13863572
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+v 0.05165061 0.01049516 0.12176314
+v 0.05045820 0.00928971 0.12183356
+v 0.05045820 -0.02358215 0.13923446
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+v 0.05045820 -0.03656391 0.12395130
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+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_57.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b0c6e6e8f1cf7dffc0e47ce29b9200c70c1440d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_57.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.00140513 0.08121030 0.11874577
+v 0.00140513 0.08121031 0.11779287
+v -0.00917529 0.08116054 0.11471117
+v -0.00080636 0.08117425 0.11861346
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+v 0.00760686 0.07712954 0.11800395
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+v -0.01879137 0.07373544 0.12796703
+v -0.01855284 0.07385046 0.12796703
+v -0.01879137 0.06367341 0.12796699
+f 1 2 9
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+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_58.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c9329e06d7b54fee0a99e6ec5a8001ce8a57aef
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_58.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.08456711 0.00534248 0.09957745
+v -0.08403799 0.00124888 0.10369390
+v -0.08425598 0.00534247 0.10369392
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+v -0.08283904 0.01031007 0.11031989
+v -0.08053626 0.00947209 0.11643539
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+v -0.08172134 0.01365389 0.11178327
+v -0.08251205 0.01510129 0.10853047
+v -0.07976338 0.01638429 0.11192302
+v -0.08093459 0.01623997 0.10741839
+v -0.08061751 0.01582700 0.10553774
+v -0.07828500 0.01590719 0.10546981
+v -0.08185015 0.00788043 0.09699812
+v -0.08128734 0.00534250 0.09660801
+v -0.08164603 0.00234347 0.09682731
+v -0.08061751 -0.01045049 0.10013247
+v -0.07880819 -0.01776764 0.10552790
+v -0.07864568 -0.02135205 0.10956867
+v -0.08309270 -0.00988919 0.10369386
+v -0.08284895 -0.00941609 0.10629650
+v -0.08233171 -0.00693830 0.10890884
+v -0.08094053 -0.00693831 0.11192293
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+v -0.07778957 -0.01512951 0.11643530
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+v -0.07923624 0.00534249 0.09877784
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+v -0.07790848 -0.02022542 0.11282537
+v -0.07649946 -0.01912687 0.11586469
+v -0.07622598 -0.01891437 0.11643529
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+f 1 11 12
+f 1 12 2
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+f 58 60 59
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_59.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1f482f4c063b592b01ca88c89fe854674c78401
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_59.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.07335212 -0.02330064 0.11610422
+v -0.07057938 -0.03808545 0.11035125
+v -0.06989505 -0.03647011 0.11309467
+v -0.07042336 -0.03373810 0.11409098
+v -0.07316774 -0.02330064 0.11643527
+v -0.07335035 -0.02330064 0.11608997
+v -0.07130802 -0.03970078 0.10369230
+v -0.07086126 -0.03954901 0.10741301
+v -0.07037195 -0.04176064 0.10577678
+v -0.06984719 -0.04081474 0.10851861
+v -0.06586004 -0.04495614 0.11283803
+v -0.06646103 -0.04222685 0.11438239
+v -0.06836863 -0.03558926 0.11601865
+v -0.06597527 -0.04042178 0.11643521
+v -0.06630148 -0.03970083 0.11643521
+v -0.06432120 -0.02330064 0.11643527
+v -0.06813993 -0.03545917 0.11643523
+v -0.07255434 -0.02330062 0.11202871
+v -0.07086480 -0.03684409 0.10100117
+v -0.07084885 -0.03970077 0.10096473
+v -0.07050846 -0.04193950 0.10137497
+v -0.07047832 -0.04190157 0.10369230
+v -0.06314403 -0.05081856 0.10780896
+v -0.06278945 -0.05052315 0.11104814
+v -0.06633162 -0.04597792 0.11009462
+v -0.06432475 -0.04789413 0.11194308
+v -0.06312807 -0.04707833 0.11528841
+v -0.06442048 -0.04399670 0.11620710
+v -0.06471655 -0.04306435 0.11643520
+v -0.06448076 -0.02330064 0.11628796
+v -0.06222214 -0.02741763 0.11643526
+v -0.06608696 -0.03737802 0.10138290
+v -0.07246569 -0.02330062 0.11199703
+v -0.06831367 -0.03684138 0.10097108
+v -0.06831367 -0.03970077 0.10025354
+v -0.06831367 -0.04243820 0.10091879
+v -0.06284441 -0.05052855 0.10519385
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+v -0.06030568 -0.05077792 0.11222026
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+v -0.06268840 -0.04653085 0.11643519
+v -0.06413150 -0.04421624 0.11643520
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+v -0.05697272 -0.04766106 0.11643518
+v -0.06029682 -0.04805406 0.11643518
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+f 54 61 62
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+f 54 63 56
+f 54 56 55
+f 58 62 61
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_6.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f5c1a20277f27e7a2db6c2d532e0ce9d4f4d099
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_6.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.01762412 -0.03947349 0.16034730
+v 0.01762412 -0.03945393 0.16035885
+v 0.01762412 -0.03924359 0.15745379
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+v 0.02547005 -0.03825558 0.16071422
+v 0.01891874 -0.03829471 0.16071422
+v 0.01762412 -0.03810396 0.16071422
+v 0.03207261 -0.03756103 0.16071422
+v 0.01762412 -0.03523768 0.15374698
+v 0.01762412 -0.02240809 0.16071428
+v 0.01762412 -0.03151059 0.15206983
+v 0.03235041 -0.00097969 0.14678420
+v 0.03629631 -0.00492200 0.15099082
+v 0.04517793 -0.00702526 0.16071433
+v 0.01878389 -0.01899892 0.16071429
+v 0.01762412 -0.01906740 0.16011479
+v 0.01762412 -0.00895234 0.14595787
+v 0.02397315 -0.00461385 0.14595788
+v 0.02591508 -0.00299486 0.14595789
+v 0.02778149 0.00000345 0.14595790
+v 0.02810784 0.00960977 0.14595794
+v 0.03235041 -0.00058839 0.14678420
+v 0.03668739 -0.00020199 0.15041878
+v 0.03660378 -0.00284813 0.15054301
+v 0.03279005 0.01049506 0.14896845
+v 0.04100009 -0.00027539 0.15815311
+v 0.04100009 -0.00027540 0.15986784
+v 0.04199533 -0.00196287 0.16071435
+v 0.01942310 -0.01737504 0.16071430
+v 0.01762412 -0.01607887 0.15955719
+v 0.01762412 0.01049507 0.14595794
+v 0.02737422 0.01049507 0.14595794
+v 0.03100995 0.01049507 0.14658200
+v 0.03304088 0.01049505 0.15154127
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+v 0.02272978 -0.01102137 0.16071432
+v 0.02576134 -0.00730895 0.16071433
+v 0.01781562 0.01049505 0.15281106
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+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_60.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8c7a90bacbe395b50d5c4894998f9d18b4b8045
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_60.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.01762503 0.04361737 0.14028293
+v 0.01762503 0.04361740 0.13305258
+v 0.01781311 0.04361737 0.14022405
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+v 0.01781311 0.04629852 0.13993168
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+v 0.01980164 0.05680030 0.12212082
+v 0.02292594 0.04361738 0.13769617
+v 0.02050465 0.06193020 0.13519678
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+v 0.01762503 0.06783537 0.13169838
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+v 0.02299807 0.06127362 0.12105893
+v 0.02539562 0.04361739 0.13513174
+v 0.02695138 0.05515272 0.12811057
+v 0.02695138 0.05746404 0.12691263
+v 0.02145144 0.06304676 0.13288413
+v 0.01980255 0.06466114 0.13451254
+v 0.01818653 0.06304675 0.13614093
+v 0.02695138 0.04361740 0.13335309
+v 0.02695138 0.04616816 0.13231961
+v 0.02695138 0.04714011 0.13186480
+v 0.01762503 0.06425339 0.13567394
+v 0.02695138 0.05448898 0.12067109
+v 0.02695138 0.04361743 0.12388318
+v 0.02695138 0.05858062 0.11959498
+v 0.01762503 0.06751296 0.13221208
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+v 0.02095385 0.06569236 0.12927201
+v 0.02695138 0.06165290 0.12268124
+v 0.02695138 0.05793105 0.12659791
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+v 0.02695138 0.05951225 0.12537357
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_61.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83503b0ebc0660ba2a910835e592fc2b3d72d54d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_61.obj
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+f 169 195 171
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+f 173 200 174
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+f 175 202 203
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+f 182 189 208
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+f 182 211 185
+f 183 189 184
+f 183 207 212
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+f 197 215 214
+f 198 216 219
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+f 205 226 219
+f 205 219 206
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+f 206 216 227
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+f 220 230 231
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+f 224 230 225
+f 225 230 226
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_62.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09fe3c0343eee7a0bc56c1e6e3e7c8230eaa2bbf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_62.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.05045820 -0.04789263 0.13500599
+v 0.05045820 -0.04941136 0.13445750
+v 0.05189124 -0.04789262 0.13384964
+v 0.05045820 -0.04429019 0.13355177
+v 0.05045820 -0.05192144 0.13327296
+v 0.05343070 -0.05114386 0.13124708
+v 0.05373271 -0.04789261 0.13179155
+v 0.05332849 -0.04522514 0.13143832
+v 0.05045820 -0.04410342 0.13310794
+v 0.05045820 -0.05246645 0.13291267
+v 0.05086746 -0.05230670 0.13271240
+v 0.05252890 -0.05387476 0.13021954
+v 0.05422357 -0.05229964 0.12866465
+v 0.05475523 -0.04789260 0.12838791
+v 0.05323427 -0.04534611 0.12838792
+v 0.05084769 -0.04418565 0.13268727
+v 0.05045820 -0.04411517 0.13264500
+v 0.05045820 -0.05454193 0.13113838
+v 0.05045820 -0.05609119 0.12830132
+v 0.05322880 -0.05446439 0.12747609
+v 0.05404312 -0.05198601 0.12509898
+v 0.05322880 -0.05446438 0.12570583
+v 0.05369611 -0.04789259 0.12552873
+v 0.05276613 -0.04579949 0.12627750
+v 0.05097429 -0.04495732 0.12835873
+v 0.05045820 -0.04477644 0.12881062
+v 0.05045820 -0.05610176 0.12819263
+v 0.05045820 -0.05582102 0.12538780
+v 0.05045820 -0.05365862 0.12499531
+v 0.05062350 -0.05198601 0.12472460
+v 0.05097429 -0.04818272 0.12562131
+v 0.05257559 -0.04579949 0.12627750
+v 0.05045820 -0.04496790 0.12855095
+v 0.05045820 -0.05198601 0.12480209
+v 0.05045820 -0.05181805 0.12483732
+v 0.05045820 -0.04849750 0.12574208
+v 0.05045820 -0.04764946 0.12623522
+v 0.05045820 -0.04589229 0.12772570
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 26
+f 1 26 33
+f 1 33 38
+f 1 38 37
+f 1 37 36
+f 1 36 35
+f 1 35 34
+f 1 34 29
+f 1 29 28
+f 1 28 27
+f 1 27 19
+f 1 19 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 11
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+f 6 11 12
+f 6 12 13
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+f 8 15 16
+f 8 16 9
+f 8 14 15
+f 9 16 17
+f 10 18 12
+f 10 12 11
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 13 21 14
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+f 13 22 21
+f 14 23 24
+f 14 24 15
+f 14 21 23
+f 15 24 25
+f 15 25 26
+f 15 26 17
+f 15 17 16
+f 19 27 20
+f 20 27 22
+f 21 22 28
+f 21 28 29
+f 21 29 30
+f 21 30 23
+f 22 27 28
+f 23 31 32
+f 23 32 24
+f 23 30 31
+f 24 32 25
+f 25 32 26
+f 26 32 33
+f 29 34 30
+f 30 34 35
+f 30 35 36
+f 30 36 31
+f 31 36 37
+f 31 37 32
+f 32 37 38
+f 32 38 33
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_63.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc5cd5322eb9b8c662915c99c45c747cd9b0c185
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_63.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.01879385 0.03364160 0.14277632
+v -0.01879385 0.03364163 0.13458431
+v -0.01910046 0.03364160 0.14274824
+v -0.03113723 0.00937576 0.14252555
+v -0.03113723 -0.00727272 0.14203818
+v -0.02765126 -0.00727272 0.14152680
+v -0.02762454 -0.00727272 0.14152279
+v -0.02730012 -0.00727272 0.14147066
+v -0.02353807 -0.00727272 0.14064644
+v -0.02320093 -0.00727272 0.14056422
+v -0.01895288 -0.00727271 0.13921259
+v -0.01892616 -0.00727271 0.13920256
+v -0.01879258 -0.00727271 0.13915043
+v -0.01879258 0.03172324 0.14239328
+v -0.01879385 0.03360161 0.12463960
+v -0.01910046 0.03363766 0.12459949
+v -0.01910046 0.03364163 0.13450610
+v -0.01879258 0.03172330 0.12394373
+v -0.02345538 0.03364160 0.14213058
+v -0.03113723 0.01399344 0.14233506
+v -0.03113723 0.01352086 0.14236514
+v -0.03170847 0.03172727 0.13746805
+v -0.03178989 0.03172727 0.13674010
+v -0.03113723 -0.00727266 0.12534735
+v -0.01879258 -0.00727265 0.12331790
+v -0.01879385 0.03335731 0.12454334
+v -0.01910046 0.03172731 0.12389560
+v -0.02730012 0.02581604 0.12408608
+v -0.02183326 0.03299686 0.12517303
+v -0.02981409 0.03364163 0.13434968
+v -0.02692862 0.03364163 0.13403283
+v -0.02298846 0.03364163 0.13383029
+v -0.02020986 0.03364163 0.13422735
+v -0.01879258 0.02991308 0.12327593
+v -0.02730012 0.03364160 0.14114393
+v -0.03113723 0.01789023 0.14176755
+v -0.03122120 0.03364161 0.13937718
+v -0.03136114 0.03364161 0.13885779
+v -0.02763091 0.03364160 0.14104366
+v -0.03157234 0.03364162 0.13694064
+v -0.03113723 0.02252799 0.12502259
+v -0.03113723 0.02165091 0.12483609
+v -0.03113723 0.01762597 0.12440892
+v -0.03113723 0.01352893 0.12449313
+v -0.03113723 -0.00284321 0.12512678
+v -0.01879258 -0.00284320 0.12229116
+v -0.01910046 0.02991308 0.12322780
+v -0.02730012 0.02171901 0.12353258
+v -0.02999475 0.02581604 0.12532942
+v -0.02945277 0.02794265 0.12609749
+v -0.03143112 0.03364162 0.13649344
+v -0.02793497 0.03364160 0.14090328
+f 1 2 17
+f 1 17 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 51
+f 1 51 40
+f 1 40 38
+f 1 38 37
+f 1 37 52
+f 1 52 39
+f 1 39 35
+f 1 35 19
+f 1 19 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 14
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+f 1 18 2
+f 2 15 16
+f 2 16 17
+f 2 18 15
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+f 3 20 21
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+f 4 23 5
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+f 5 25 13
+f 5 13 12
+f 5 12 11
+f 5 11 10
+f 5 10 9
+f 5 9 8
+f 5 8 7
+f 5 7 6
+f 13 25 46
+f 13 46 34
+f 13 34 18
+f 13 18 14
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+f 42 48 43
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+f 44 46 45
+f 46 48 47
+f 49 51 50
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_64.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc792b551b8c16a98b11b3763b0fd51062feb0ce
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_64.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.01762553 -0.00898053 0.12335338
+v 0.01762553 -0.00522875 0.12213729
+v 0.03200503 -0.00898054 0.12493213
+v 0.01762553 -0.00898059 0.13807231
+v 0.01762553 -0.00284385 0.12136605
+v 0.03200503 -0.00882421 0.12491521
+v 0.03200503 -0.00898060 0.14069310
+v 0.01966385 -0.00898059 0.13872751
+v 0.01762553 -0.00894821 0.14595401
+v 0.01762553 0.00042942 0.12125727
+v 0.03200503 0.00534408 0.12395302
+v 0.03200503 -0.00693879 0.12476773
+v 0.03200503 0.01049509 0.14071976
+v 0.02810433 0.00961051 0.14595408
+v 0.02777916 0.00000802 0.14595404
+v 0.02591397 -0.00299074 0.14595403
+v 0.02397137 -0.00460926 0.14595402
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+v 0.02601533 -0.00898059 0.13996295
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+v 0.02737234 0.01049507 0.14595408
+v 0.02763276 0.01018052 0.14595408
+v 0.03200503 0.01049515 0.12420931
+v 0.01762553 0.01049516 0.12321806
+f 1 2 3
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+f 1 19 8
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+f 13 24 25
+f 13 25 14
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+f 13 27 20
+f 13 20 24
+f 22 27 26
+f 22 26 23
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_65.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b338d0ebcdab2b02d3f4f4991e41a7c6acafd3e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_65.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.03011552 0.02991636 0.14148439
+v 0.03011552 0.02582189 0.14147489
+v 0.03420842 0.02172012 0.14136684
+v 0.03420842 0.02581459 0.14132515
+v 0.03420842 0.02990906 0.14127589
+v 0.03420842 0.03400109 0.14102759
+v 0.01762412 0.03810530 0.14102572
+v 0.01781408 0.03401083 0.14138015
+v 0.01762412 0.03401083 0.14138394
+v 0.01762412 0.02991636 0.14134412
+v 0.03420842 0.01873634 0.14131376
+v 0.03420842 0.03809800 0.14000596
+v 0.01762412 0.04361737 0.14028272
+v 0.01762412 0.02972881 0.14132706
+v 0.02601449 0.02172742 0.14116592
+v 0.03011552 0.01873634 0.14109767
+v 0.03420842 0.01873634 0.14119245
+v 0.03420842 0.04051425 0.13894072
+v 0.01781408 0.04361737 0.14022396
+v 0.01762412 0.04361740 0.13305343
+v 0.01762412 0.02582189 0.14083422
+v 0.02301909 0.01873634 0.14050819
+v 0.02601449 0.01873634 0.14081146
+v 0.03311254 0.01873640 0.12465456
+v 0.03420842 0.01874127 0.12459011
+v 0.03420842 0.04360522 0.13335102
+v 0.02116665 0.04361738 0.13915302
+v 0.01886287 0.04361743 0.12513799
+v 0.01762412 0.04165179 0.12472476
+v 0.01762412 0.01873635 0.13985994
+v 0.01781408 0.01873640 0.12433612
+v 0.02061465 0.03978846 0.12212040
+v 0.03420842 0.04361743 0.12407653
+v 0.03420842 0.04361743 0.12410117
+v 0.03154259 0.04361740 0.13269329
+v 0.02193945 0.04361744 0.12382633
+v 0.01961619 0.04048995 0.12212040
+v 0.01762412 0.03827587 0.12331832
+v 0.01762412 0.01873640 0.12433422
+v 0.01766958 0.01873640 0.12433422
+v 0.01961619 0.03978846 0.12212040
+v 0.02061465 0.04048995 0.12212040
+v 0.02601449 0.04361744 0.12377515
+f 1 2 3
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+f 32 40 39
+f 32 39 41
+f 33 42 43
+f 36 43 37
+f 37 41 38
+f 37 43 42
+f 38 41 39
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_66.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9dfb50c7bf1b8933b8b0682ac0f18b5ce30159c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_66.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.03874625 0.06696069 0.11568517
+v 0.03826766 0.06590730 0.12026329
+v 0.04254021 0.06638488 0.11568516
+v 0.03502561 0.06596216 0.11568516
+v 0.03181445 0.06530865 0.11757876
+v 0.03397581 0.06594843 0.12047171
+v 0.03686277 0.06497045 0.12244369
+v 0.03959536 0.06434209 0.12170798
+v 0.04128971 0.06524238 0.11896288
+v 0.04528052 0.06524011 0.11568516
+v 0.04399914 0.06580906 0.11568516
+v 0.03489439 0.06566511 0.11568516
+v 0.02695138 0.05858170 0.11959526
+v 0.02695138 0.06165269 0.12067477
+v 0.03181445 0.06530864 0.11930847
+v 0.03244356 0.06464827 0.12205179
+v 0.03517614 0.06497045 0.12244369
+v 0.03421896 0.05986583 0.12592982
+v 0.03832169 0.05972187 0.12578553
+v 0.03826766 0.06285686 0.12356239
+v 0.04130515 0.06161156 0.12300125
+v 0.04876957 0.06081869 0.11828594
+v 0.04683592 0.06376172 0.11625162
+v 0.04630716 0.06456147 0.11568516
+v 0.03474773 0.06321791 0.11568515
+v 0.02695138 0.05448932 0.12067118
+v 0.02695138 0.06165268 0.12268238
+v 0.02695138 0.06152472 0.12331477
+v 0.02695138 0.06007147 0.12490196
+v 0.02695138 0.05951166 0.12537047
+v 0.02695138 0.05793045 0.12659605
+v 0.03832169 0.05767453 0.12691670
+v 0.02695138 0.05746432 0.12690956
+v 0.02695138 0.05515193 0.12810842
+v 0.03421896 0.05781849 0.12695944
+v 0.04080726 0.05694336 0.12654973
+v 0.04848010 0.05645438 0.12216042
+v 0.06434298 0.04361746 0.11820572
+v 0.06460542 0.04388937 0.11770337
+v 0.06540822 0.04477823 0.11568508
+v 0.04949131 0.06169383 0.11604142
+v 0.04719101 0.06394681 0.11568515
+v 0.05068778 0.04617892 0.11568509
+v 0.02695138 0.04361743 0.12388296
+v 0.03832169 0.04361740 0.13388004
+v 0.02695138 0.04616971 0.13231956
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+v 0.02695138 0.04361740 0.13335275
+v 0.03828310 0.04361740 0.13387826
+v 0.02695138 0.04391673 0.13323162
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+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_67.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd3dd726c9d64199c0483728175892c3aa7ebae1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_67.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.01879137 0.01499565 0.13458578
+v -0.00079296 0.01499565 0.13458578
+v -0.01879137 0.01499562 0.14063252
+v -0.01879137 0.03363961 0.13458584
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+v -0.00079296 0.03184331 0.13458584
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+v -0.01523221 0.03366730 0.14308568
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+v -0.01879137 0.04647254 0.13571267
+v -0.00079296 0.02772072 0.14167075
+v -0.00079296 0.04647254 0.13614790
+v -0.00079296 0.02991756 0.14210856
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+v -0.01879137 0.04647254 0.13603006
+v -0.00079296 0.04647251 0.14316228
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+v -0.01499611 0.03810414 0.14337299
+v -0.01879137 0.03842766 0.14334719
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+v -0.01879137 0.04646019 0.14248880
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+v -0.00251792 0.04647251 0.14326808
+v -0.00079296 0.04635851 0.14316228
+v -0.00079296 0.04206340 0.14306077
+v -0.00079296 0.04416474 0.14311067
+v -0.01089427 0.04629380 0.14305563
+v -0.01879137 0.04236227 0.14305390
+v -0.00269412 0.04647251 0.14326980
+v -0.01069517 0.04647251 0.14304961
+v -0.01373102 0.04647252 0.14288275
+v -0.01089427 0.04647251 0.14304015
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+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_68.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84af5735f06456af9ec38cc30f25283765270cf4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_68.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.01762412 0.00154906 0.14188892
+v 0.01762412 0.00154913 0.12137530
+v 0.00987440 0.00154906 0.14188892
+v 0.01762412 -0.00422348 0.14188889
+v 0.01762412 0.00125015 0.12127263
+v 0.01535876 0.00125016 0.11909229
+v 0.01523282 0.00154914 0.11909230
+v 0.00987440 0.00154914 0.11909230
+v 0.00987440 -0.01427887 0.14188886
+v 0.01762412 -0.02524434 0.14186205
+v 0.01762412 0.00042662 0.12125925
+v 0.01534586 0.00085938 0.11909229
+v 0.00987440 -0.01023985 0.11909225
+v 0.00987440 -0.02524434 0.14111443
+v 0.01381489 -0.02524434 0.14168797
+v 0.01609542 -0.02524434 0.14180179
+v 0.01762412 -0.02524431 0.13210067
+v 0.01762412 -0.00284650 0.12136636
+v 0.01508868 -0.00284649 0.11909228
+v 0.01349094 -0.00701656 0.11909226
+v 0.01762412 -0.02273962 0.12567566
+v 0.01762412 -0.02289698 0.12574039
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+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_69.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..366ea16555cacc2f3a3dc0a61cf5be891cd435f6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_69.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.07869658 0.00943811 0.12932573
+v -0.07814589 0.00943811 0.13001019
+v -0.07688770 0.01321726 0.12932575
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+v -0.07813441 -0.00693820 0.12979082
+v -0.07608461 -0.00693820 0.13199308
+v -0.07608078 0.00534147 0.13206122
+v -0.07388755 0.00534147 0.13411920
+v -0.07609416 0.00943811 0.13185925
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+v -0.07017036 -0.02077461 0.13428069
+v -0.07058147 -0.01804523 0.13480356
+v -0.07375753 -0.00693821 0.13405105
+v -0.07183775 0.00534146 0.13552735
+v -0.07342099 0.00943810 0.13391722
+v -0.06417006 0.01785156 0.13766386
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+v -0.05916409 -0.02829196 0.13750094
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+v -0.06793125 0.00505980 0.13772844
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+v -0.05916409 0.01353471 0.14089334
+v -0.05916409 0.01968992 0.13899006
+v -0.05916409 0.01779523 0.13968489
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+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_7.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c6e84b9ce388797494a58ecaaa07d5ca8baba84
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_7.obj
@@ -0,0 +1,1126 @@
+# https://github.com/mikedh/trimesh
+v -0.04876144 0.00124209 -0.06484332
+v -0.04247657 0.00124211 -0.07184857
+v -0.04872369 -0.00176811 -0.06484333
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+v -0.04242939 -0.00284384 -0.07182400
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+v -0.04870482 -0.00284386 -0.06484333
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+v -0.03550282 0.00943290 -0.07337616
+v -0.03550282 0.00533751 -0.07342278
+v -0.03550282 0.00124212 -0.07343805
+v -0.03550282 -0.00284383 -0.07343636
+v -0.03550282 -0.00693921 -0.07341775
+v -0.03550282 -0.01102516 -0.07334149
+v -0.03959837 -0.00693921 -0.07270858
+v -0.04842172 -0.00682601 -0.06484335
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+v -0.04216516 -0.00693922 -0.07164694
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+v -0.03959837 0.00943290 -0.07255007
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_70.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98093332d58d12ee63ca2b47272c5356592d4f54
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_70.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.05045278 -0.04764385 0.12623957
+v 0.04242016 -0.03789774 0.13224112
+v 0.04624048 -0.03789774 0.13291184
+v 0.05045820 -0.04589135 0.12772565
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+v 0.03602585 -0.03789777 0.14135624
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+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_71.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a847d389f28e698d29c27fa00b7f125cdb5180ce
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_71.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01762412 -0.02524441 0.16112691
+v -0.00040585 -0.02524441 0.15962985
+v 0.01762412 -0.02524438 0.15184700
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+v 0.00140314 -0.01668388 0.14189108
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+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_72.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a971f219330cb980f0e2a2761928fecbbe846a4d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_72.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.01762553 -0.03004202 0.14287249
+v 0.01762553 -0.02817008 0.14256482
+v 0.01762553 -0.03004200 0.13529730
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+v 0.01762553 -0.02289848 0.12574045
+v 0.02756519 -0.03004202 0.14222657
+v 0.03011591 -0.02741553 0.14191509
+v 0.03200503 -0.01513038 0.14114117
+v 0.03200503 -0.00898054 0.12493214
+v 0.01966385 -0.00898059 0.13872761
+v 0.01762553 -0.01159471 0.13888431
+v 0.01762553 -0.01176995 0.13893017
+v 0.01762553 -0.01532004 0.13972894
+v 0.02229060 -0.02721137 0.12569838
+v 0.01762553 -0.02273973 0.12567546
+v 0.01800420 -0.02311907 0.12568120
+v 0.02601533 -0.02741547 0.12506966
+v 0.03200503 -0.02872665 0.12514036
+v 0.03200503 -0.03004199 0.13225882
+v 0.03011591 -0.03004202 0.14196094
+v 0.03200503 -0.02741553 0.14167430
+v 0.03200503 -0.02143479 0.14143163
+v 0.01762553 -0.00898053 0.12335175
+v 0.03200503 -0.02331904 0.12439318
+v 0.01762553 -0.00898059 0.13807406
+v 0.02191474 -0.02331904 0.12472951
+v 0.01762553 -0.01903708 0.12483082
+v 0.03200503 -0.02741547 0.12458618
+v 0.03200503 -0.03004202 0.14171824
+v 0.03200503 -0.02520542 0.12437025
+v 0.02601533 -0.02331904 0.12447535
+f 1 2 10
+f 1 10 23
+f 1 23 22
+f 1 22 21
+f 1 21 35
+f 1 35 33
+f 1 33 37
+f 1 37 25
+f 1 25 15
+f 1 15 3
+f 1 3 14
+f 1 14 29
+f 1 29 39
+f 1 39 30
+f 1 30 16
+f 1 16 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 15 11
+f 4 16 17
+f 4 17 18
+f 4 18 5
+f 5 18 32
+f 5 32 31
+f 5 31 39
+f 5 39 29
+f 5 29 13
+f 5 13 28
+f 5 28 38
+f 5 38 40
+f 5 40 34
+f 5 34 19
+f 5 19 6
+f 6 19 33
+f 6 33 35
+f 6 35 20
+f 6 20 9
+f 6 9 8
+f 6 8 7
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 10
+f 11 24 12
+f 11 15 25
+f 11 25 26
+f 11 26 24
+f 12 24 27
+f 12 27 13
+f 13 29 14
+f 13 27 28
+f 16 30 17
+f 17 30 31
+f 17 31 32
+f 17 32 18
+f 19 34 33
+f 20 35 21
+f 24 26 36
+f 24 36 27
+f 25 37 36
+f 25 36 26
+f 27 38 28
+f 27 36 38
+f 30 39 31
+f 33 34 40
+f 33 40 38
+f 33 38 41
+f 33 41 36
+f 33 36 37
+f 36 41 38
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_73.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a7cec3cdfbf2333256ebd4f046334b6c533e747
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_73.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.01108334 -0.00534566 0.14216797
+v -0.01879137 0.01499559 0.14995119
+v -0.01108334 -0.00525208 0.14216797
+v -0.00111493 -0.00534566 0.14216797
+v -0.01879137 -0.00534570 0.15278358
+v -0.01666055 0.01499559 0.14870993
+v -0.01079900 0.00940654 0.14216802
+v -0.01105275 -0.00284482 0.14216798
+v -0.01879137 0.01499554 0.16246061
+v -0.00171602 -0.00534567 0.14391563
+v -0.00040585 0.00265266 0.14216800
+v -0.00040585 0.00818796 0.14837024
+v -0.00040585 0.01097351 0.15109981
+v -0.00040585 0.01119851 0.15130566
+v -0.00040585 0.01499557 0.15469189
+v -0.01879137 -0.00534574 0.16278783
+v -0.01274805 0.01499560 0.14723810
+v -0.00274004 0.01461531 0.14216804
+v -0.00687750 0.01334299 0.14216804
+v -0.01879137 0.01353405 0.16269733
+v -0.00241249 -0.00534567 0.14507455
+v -0.00040585 0.01469894 0.14216804
+v -0.01879137 0.01258031 0.16282290
+v -0.01879137 0.00944031 0.16304725
+v -0.01879137 0.00808635 0.16308225
+v -0.01879137 0.00125084 0.16319543
+v -0.01879137 -0.00029427 0.16315426
+v -0.01879137 -0.00284490 0.16305132
+v -0.01879137 -0.00413116 0.16294222
+v -0.01391964 -0.00534572 0.15835797
+v -0.01310978 -0.00534572 0.15755516
+v -0.01192559 -0.00534571 0.15629949
+v -0.00412759 -0.00534568 0.14721744
+v -0.00040585 0.01499561 0.14348960
+v -0.00855840 0.01499560 0.14587127
+v -0.00366507 0.01499561 0.14442210
+f 1 2 3
+f 1 3 8
+f 1 8 7
+f 1 7 19
+f 1 19 18
+f 1 18 22
+f 1 22 11
+f 1 11 4
+f 1 4 10
+f 1 10 21
+f 1 21 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 16
+f 1 16 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 5 16
+f 2 16 29
+f 2 29 28
+f 2 28 27
+f 2 27 26
+f 2 26 25
+f 2 25 24
+f 2 24 23
+f 2 23 20
+f 2 20 9
+f 2 9 15
+f 2 15 34
+f 2 34 36
+f 2 36 35
+f 2 35 17
+f 2 17 6
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 10
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 9 20 15
+f 10 15 21
+f 11 22 34
+f 11 34 15
+f 11 15 14
+f 11 14 13
+f 11 13 12
+f 15 20 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 15 16 30
+f 15 30 31
+f 15 31 32
+f 15 32 33
+f 15 33 21
+f 17 35 18
+f 18 35 36
+f 18 36 34
+f 18 34 22
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_74.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf869f48d0b5ec994eb6629acf39dc558012fcbb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_74.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00040705 0.01469626 0.14216599
+v -0.00040705 0.01499563 0.13873748
+v -0.00278607 0.01499562 0.14031848
+v -0.01879137 0.01499562 0.14063242
+v -0.00274108 0.01461354 0.14216599
+v -0.00040705 -0.01611000 0.14216588
+v -0.00040705 0.01499570 0.12114313
+v -0.01079952 0.00940236 0.14216597
+v -0.00687647 0.01333733 0.14216599
+v -0.01879137 0.01499568 0.12422610
+v -0.01879137 -0.02524435 0.14208680
+v -0.00440387 -0.01581458 0.14216588
+v -0.00040705 -0.02524434 0.13982596
+v -0.00040705 0.01451909 0.11909233
+v -0.01175508 -0.00932719 0.14216591
+v -0.00269429 0.01439305 0.11909233
+v -0.00698984 0.01284505 0.11909233
+v -0.01103166 0.00955606 0.11909232
+v -0.01422408 0.00550291 0.11909230
+v -0.01588868 0.00142613 0.11909229
+v -0.01879137 0.00149308 0.12252533
+v -0.01879137 -0.02524429 0.12435017
+v -0.00945524 -0.01530252 0.14216588
+v -0.01087150 -0.01496378 0.14216589
+v -0.01131779 -0.01337245 0.14216589
+v -0.01178388 -0.01102486 0.14216590
+v -0.00040705 -0.02524429 0.12546138
+v -0.00040705 -0.01494794 0.11909223
+v -0.01581669 -0.00285153 0.11909227
+v -0.01879137 -0.00285154 0.12229042
+v -0.01879137 0.00115828 0.12249822
+v -0.00269429 -0.01506217 0.11909222
+v -0.00269429 -0.02524429 0.12475671
+v -0.01568352 -0.00340298 0.11909227
+v -0.01446522 -0.00669197 0.11909226
+v -0.01065015 -0.01087510 0.11909224
+v -0.00662813 -0.01382141 0.11909223
+v -0.00364626 -0.01490067 0.11909223
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 8
+f 1 8 15
+f 1 15 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 12
+f 1 12 6
+f 1 6 13
+f 1 13 27
+f 1 27 28
+f 1 28 14
+f 1 14 7
+f 1 7 2
+f 2 7 10
+f 2 10 4
+f 2 4 3
+f 4 8 9
+f 4 9 5
+f 4 10 21
+f 4 21 31
+f 4 31 30
+f 4 30 22
+f 4 22 11
+f 4 11 8
+f 6 12 11
+f 6 11 13
+f 7 14 10
+f 8 11 15
+f 10 14 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 11 22 33
+f 11 33 27
+f 11 27 13
+f 11 12 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 15
+f 14 28 32
+f 14 32 38
+f 14 38 37
+f 14 37 36
+f 14 36 35
+f 14 35 34
+f 14 34 29
+f 14 29 20
+f 14 20 19
+f 14 19 18
+f 14 18 17
+f 14 17 16
+f 20 29 30
+f 20 30 31
+f 20 31 21
+f 22 32 33
+f 22 30 29
+f 22 29 34
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 32
+f 27 33 28
+f 28 33 32
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_75.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5abacc10f10cb0b966bf498ccfcf06ae20fe7eb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_75.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.01879137 0.01499568 0.12422518
+v -0.00079296 0.01499569 0.12127208
+v -0.01879137 0.01499565 0.13458578
+v -0.01879137 0.02960835 0.12327779
+v -0.00079296 0.02122331 0.12550366
+v -0.00079296 0.01499565 0.13458578
+v -0.01879137 0.02991499 0.12327388
+v -0.01499611 0.02991499 0.12385512
+v -0.01499611 0.03314196 0.12514401
+v -0.01257518 0.03233156 0.12589988
+v -0.01879137 0.03364204 0.13458584
+v -0.00079296 0.03184420 0.13458584
+v -0.01879137 0.03336099 0.12454192
+v -0.01879137 0.03360191 0.12463836
+f 1 2 6
+f 1 6 3
+f 1 3 11
+f 1 11 14
+f 1 14 13
+f 1 13 7
+f 1 7 4
+f 1 4 2
+f 2 5 12
+f 2 12 6
+f 2 4 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 5
+f 3 6 12
+f 3 12 11
+f 5 10 12
+f 7 13 8
+f 8 13 9
+f 9 13 14
+f 9 14 12
+f 9 12 10
+f 11 12 14
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_76.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2785204f2ca44fb2e89a8f1084b8f9d1cfbc46eb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_76.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00987365 0.00154906 0.14188892
+v 0.00987365 0.00154914 0.11909230
+v 0.00704719 0.00154906 0.14188892
+v 0.00987365 -0.01427887 0.14188886
+v -0.00040585 0.00154914 0.11909230
+v 0.00987365 -0.01023985 0.11909225
+v -0.00040585 0.00154906 0.14160104
+v -0.00040585 -0.00505225 0.14188889
+v 0.00970460 -0.01491619 0.14188886
+v 0.00987365 -0.02524434 0.14111443
+v -0.00040585 -0.01494758 0.11909224
+v 0.00964020 -0.01060703 0.11909225
+v 0.00987365 -0.02524431 0.13367623
+v -0.00040585 -0.01610951 0.14188885
+v 0.00631466 -0.01586560 0.14188885
+v 0.00550868 -0.01608853 0.14188885
+v 0.00140332 -0.01668388 0.14188885
+v 0.00133289 -0.01667339 0.14188885
+v -0.00040585 -0.02524433 0.13982452
+v 0.00140835 -0.01492922 0.11909224
+v -0.00040585 -0.02524428 0.12545918
+v 0.00469767 -0.01372278 0.11909224
+v 0.00022303 -0.02524428 0.12564441
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 13
+f 1 13 6
+f 1 6 2
+f 2 6 12
+f 2 12 22
+f 2 22 20
+f 2 20 11
+f 2 11 5
+f 3 7 8
+f 4 9 10
+f 5 11 21
+f 5 21 19
+f 5 19 14
+f 5 14 8
+f 5 8 7
+f 6 13 12
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 14
+f 10 14 19
+f 10 19 21
+f 10 21 23
+f 10 23 13
+f 11 20 21
+f 12 13 23
+f 12 23 22
+f 20 22 21
+f 21 22 23
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_77.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5905c8cf3af3f26a80db5f58684ec500d3f77f60
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_77.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.06637984 0.04361747 0.11568388
+v 0.06574276 0.04361746 0.11651639
+v 0.06712396 0.03906123 0.12163497
+v 0.06948687 0.03688818 0.12163497
+v 0.06653911 0.04342591 0.11568388
+v 0.05343473 0.04361747 0.11568388
+v 0.06503781 0.04361746 0.11743629
+v 0.06434330 0.04361746 0.11820530
+v 0.06316837 0.04196139 0.12163498
+v 0.06948165 0.03501584 0.12163496
+v 0.07020750 0.03787689 0.11568386
+v 0.06990724 0.03854220 0.11568386
+v 0.06912395 0.04009938 0.11568387
+v 0.06784981 0.04183783 0.11568387
+v 0.05481070 0.02572011 0.12163492
+v 0.04795172 0.04361745 0.11873487
+v 0.06251040 0.03335776 0.11568384
+v 0.06404826 0.02329372 0.11761508
+v 0.06131459 0.02500745 0.11840564
+v 0.06262006 0.04361745 0.11973751
+v 0.06042686 0.04361744 0.12163499
+v 0.07015006 0.03422081 0.11568385
+v 0.07016311 0.03450917 0.11568385
+v 0.06763049 0.02582310 0.12163492
+v 0.05671670 0.02311038 0.12163491
+v 0.04629638 0.03886761 0.12163497
+v 0.04413451 0.04224769 0.12163499
+v 0.04356532 0.04354947 0.12163499
+v 0.04353660 0.04361744 0.12163499
+v 0.06716051 0.03069448 0.11568383
+v 0.06719707 0.03067800 0.11568383
+v 0.06591770 0.02329372 0.11761508
+v 0.06277934 0.02261193 0.11992851
+v 0.05882374 0.02272727 0.12112864
+v 0.06992551 0.03378207 0.11568384
+v 0.06737722 0.02498889 0.12163492
+v 0.05882374 0.02257484 0.12163491
+v 0.06723884 0.03069242 0.11568383
+v 0.06611352 0.02298269 0.12015572
+v 0.06649733 0.02312480 0.12163491
+v 0.06276367 0.02264282 0.12163491
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 23
+f 1 23 22
+f 1 22 35
+f 1 35 38
+f 1 38 31
+f 1 31 30
+f 1 30 17
+f 1 17 6
+f 1 6 16
+f 1 16 29
+f 1 29 21
+f 1 21 20
+f 1 20 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 21
+f 3 21 29
+f 3 29 28
+f 3 28 27
+f 3 27 26
+f 3 26 15
+f 3 15 25
+f 3 25 37
+f 3 37 41
+f 3 41 40
+f 3 40 36
+f 3 36 24
+f 3 24 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 6 15 16
+f 6 17 18
+f 6 18 19
+f 6 19 15
+f 8 20 9
+f 9 20 21
+f 10 22 23
+f 10 23 11
+f 10 24 22
+f 15 26 16
+f 15 19 25
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 17 30 18
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 25
+f 18 25 19
+f 22 24 36
+f 22 36 32
+f 22 32 35
+f 25 34 37
+f 31 38 32
+f 32 39 33
+f 32 38 35
+f 32 36 40
+f 32 40 39
+f 33 39 41
+f 33 41 37
+f 33 37 34
+f 39 40 41
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_78.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1766dbc0687b9b50c2ca2a085f10a8441d2a987c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_78.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.08033121 0.00534385 0.11604416
+v 0.07968092 -0.00273739 0.11205887
+v 0.07993603 0.00125208 0.11205888
+v 0.07902562 0.00528170 0.11205890
+v 0.07887055 0.00571173 0.11205890
+v 0.07828277 0.00839036 0.11321538
+v 0.07874299 0.00910276 0.11604417
+v 0.07825526 0.00873359 0.12015978
+v 0.07946832 0.00534384 0.12015977
+v 0.07936578 0.00125205 0.12015975
+v 0.07065677 -0.00273739 0.11205887
+v 0.07772252 -0.00163126 0.12305509
+v 0.07692715 -0.00273744 0.12416719
+v 0.07859292 0.00571173 0.11205890
+v 0.07627435 0.00839036 0.11321538
+v 0.07506129 0.01049517 0.12011819
+v 0.07520136 0.01049517 0.12013760
+v 0.07552401 0.01049515 0.12412009
+v 0.07433847 0.01049514 0.12840488
+v 0.07763497 0.00789424 0.12274452
+v 0.07795763 0.00534383 0.12329640
+v 0.07802265 0.00125204 0.12352934
+v 0.06783798 0.00534386 0.11316268
+v 0.07113200 0.00077282 0.11205888
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_79.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63462af0c06f578630a78cc4221624be77473f35
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_79.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_8.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95772eabc4a45b21203b3641b296a2138887d377
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_8.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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+f 95 109 112
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+f 109 111 116
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_80.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1158241d762fa290f02569ceb74b2cd4732af50a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_80.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.05478192 -0.03679969 0.11941813
+v 0.05656145 -0.04197402 0.11312817
+v 0.05656145 -0.04197402 0.11452417
+v 0.05478192 -0.03653573 0.12008886
+v 0.05478192 -0.03401259 0.11698713
+v 0.05628842 -0.03969932 0.11287466
+v 0.05675159 -0.03969932 0.11205956
+v 0.05820446 -0.04233113 0.11205955
+v 0.05858718 -0.04239324 0.11205955
+v 0.05882607 -0.04216423 0.11478691
+v 0.05864081 -0.03886865 0.12063449
+v 0.05652975 -0.03808066 0.12063449
+v 0.05593495 -0.03863963 0.11929138
+v 0.05478192 -0.03620578 0.12063450
+v 0.05634205 -0.03683460 0.11335903
+v 0.05478192 -0.02220434 0.12063455
+v 0.05802651 -0.00273742 0.12063462
+v 0.05691247 -0.03829801 0.11205957
+v 0.06175619 -0.04238936 0.11205955
+v 0.06133447 -0.04207883 0.11451325
+v 0.05878463 -0.03886477 0.12063449
+v 0.07743307 -0.00273742 0.12063462
+v 0.07065625 -0.00273739 0.11205970
+v 0.06370148 -0.04045237 0.11205956
+v 0.06509585 -0.03785162 0.11420351
+v 0.06177813 -0.03844554 0.12063449
+v 0.07895907 -0.00708106 0.11205968
+v 0.07898588 -0.00694132 0.11205968
+v 0.07967575 -0.00284996 0.11205970
+v 0.07968307 -0.00273739 0.11205970
+v 0.06383312 -0.03525475 0.12063450
+v 0.07162889 -0.02761546 0.11205961
+v 0.07176540 -0.02726610 0.11205961
+v 0.06390625 -0.04021170 0.11205956
+v 0.06553464 -0.03828636 0.11205957
+v 0.06740192 -0.03570112 0.11205958
+v 0.06984206 -0.03161365 0.11205959
+v 0.07000539 -0.03130699 0.11205960
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 16
+f 1 16 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 5 6
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 5 15 6
+f 5 16 17
+f 5 17 15
+f 6 15 7
+f 7 15 18
+f 7 18 23
+f 7 23 30
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+f 7 29 28
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+f 7 34 24
+f 7 24 19
+f 7 19 9
+f 7 9 8
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 26
+f 11 26 31
+f 11 31 22
+f 11 22 17
+f 11 17 16
+f 11 16 14
+f 11 14 12
+f 12 14 13
+f 15 17 18
+f 17 22 30
+f 17 30 23
+f 17 23 18
+f 19 24 20
+f 20 24 25
+f 20 25 26
+f 20 26 21
+f 22 27 28
+f 22 28 29
+f 22 29 30
+f 22 31 32
+f 22 32 33
+f 22 33 27
+f 24 34 25
+f 25 34 35
+f 25 35 36
+f 25 36 31
+f 25 31 26
+f 31 36 37
+f 31 37 38
+f 31 38 32
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_81.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daf41ad4b3f5fd1172e98912af496bbf48799a3f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_81.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.00269504 -0.02524439 0.15111465
+v -0.00040585 -0.01610918 0.14216589
+v -0.00135428 -0.02524439 0.15113079
+v -0.01879137 -0.02524439 0.15138515
+v -0.00440294 -0.01581507 0.14216589
+v -0.00040585 -0.00543526 0.14216593
+v -0.00040585 -0.02523659 0.15113685
+v -0.01879137 -0.02391987 0.15017798
+v -0.00040585 -0.02524440 0.15430214
+v -0.01879137 -0.02524442 0.16190044
+v -0.00945644 -0.01530474 0.14216589
+v -0.00111493 -0.00534566 0.14216593
+v -0.00171602 -0.00534567 0.14391612
+v -0.00241249 -0.00534567 0.14507282
+v -0.00040585 -0.00624361 0.14379904
+v -0.01879137 -0.02349331 0.14983884
+v -0.00040585 -0.02524442 0.15962943
+v -0.01499585 -0.02524442 0.16159764
+v -0.01879137 -0.00534574 0.16278670
+v -0.01087278 -0.01496778 0.14216590
+v -0.01108334 -0.00534566 0.14216593
+v -0.00412759 -0.00534568 0.14721868
+v -0.00040585 -0.00716297 0.14498802
+v -0.01879137 -0.01810959 0.14637482
+v -0.00040585 -0.02516261 0.15958299
+v -0.01100056 -0.02524442 0.16109499
+v -0.01879137 -0.00534570 0.15278417
+v -0.00040585 -0.02293627 0.15830518
+v -0.00040585 -0.01980225 0.15624816
+v -0.01391964 -0.00534572 0.15835773
+v -0.01131730 -0.01337643 0.14216590
+v -0.01879137 -0.01795766 0.14627792
+v -0.01175642 -0.00933085 0.14216592
+v -0.01879137 -0.01515089 0.14607000
+v -0.01879137 -0.01440099 0.14623958
+v -0.01192559 -0.00534571 0.15629868
+v -0.00040585 -0.01303170 0.15102788
+v -0.00040585 -0.01308234 0.15107028
+v -0.01310978 -0.00534572 0.15755632
+v -0.01178522 -0.01102738 0.14216591
+f 1 2 3
+f 1 3 9
+f 1 9 17
+f 1 17 26
+f 1 26 18
+f 1 18 10
+f 1 10 4
+f 1 4 2
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+f 2 11 20
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+f 2 21 12
+f 2 12 6
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+f 2 17 9
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+f 19 29 30
+f 20 24 32
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+f 21 33 34
+f 21 34 35
+f 21 35 27
+f 22 36 23
+f 23 36 37
+f 29 38 30
+f 30 38 39
+f 31 32 40
+f 32 34 40
+f 33 40 34
+f 36 39 37
+f 37 39 38
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_82.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bd12f0a6c59eb4af9e20dfa0f4212ac39b5ccaa
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_82.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.03113809 -0.04261938 0.13577242
+v -0.02762082 -0.02372672 0.13503997
+v -0.01940780 -0.03177020 0.13503994
+v -0.01879258 -0.03221302 0.13503994
+v -0.01879258 -0.04261938 0.13575046
+v -0.03113809 -0.04261940 0.14287880
+v -0.03113809 -0.01574206 0.13504000
+v -0.02767521 -0.02366791 0.13503997
+v -0.01879258 -0.00727652 0.13504003
+v -0.01879258 -0.04261940 0.14270729
+v -0.03064737 -0.04261940 0.14292527
+v -0.03113809 -0.04124942 0.14295401
+v -0.03113809 -0.00727652 0.13504003
+v -0.01879258 -0.00727653 0.13915296
+v -0.02412651 -0.04255366 0.14291007
+v -0.02430056 -0.04261940 0.14291260
+v -0.01879258 -0.03994170 0.14274448
+v -0.01993357 -0.03875853 0.14290079
+v -0.02293595 -0.03995555 0.14300639
+v -0.02938429 -0.04261941 0.14297512
+v -0.03113809 -0.03982754 0.14300386
+v -0.03113809 -0.00727654 0.14203996
+v -0.01892553 -0.00727653 0.13920535
+v -0.01879258 -0.01103707 0.13983732
+v -0.02756522 -0.04261941 0.14301230
+v -0.02730051 -0.03969954 0.14315931
+v -0.01879258 -0.03537508 0.14275548
+v -0.01993357 -0.03652365 0.14290080
+v -0.02730051 -0.02332198 0.14367138
+v -0.03113809 -0.02332198 0.14333596
+v -0.02765224 -0.00727654 0.14153048
+v -0.03113809 -0.01061501 0.14250463
+v -0.02457493 -0.01999043 0.14331993
+v -0.01895212 -0.00727653 0.13921549
+v -0.01879258 -0.01513320 0.14055883
+v -0.01879258 -0.03535086 0.14275548
+v -0.02730051 -0.01967215 0.14343061
+v -0.03113809 -0.01091599 0.14254012
+v -0.02730051 -0.00727654 0.14147219
+v -0.01879258 -0.02332197 0.14186754
+v -0.02320065 -0.00727654 0.14056731
+v -0.02353788 -0.00727654 0.14064757
+v -0.01879258 -0.02741463 0.14234912
+f 1 2 3
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+f 1 16 25
+f 1 25 20
+f 1 20 11
+f 1 11 6
+f 1 6 12
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+f 10 17 18
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+f 11 20 12
+f 12 20 21
+f 14 23 24
+f 15 19 16
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+f 16 26 25
+f 17 27 18
+f 18 27 36
+f 18 36 28
+f 18 28 29
+f 18 29 19
+f 19 29 26
+f 20 25 26
+f 20 26 21
+f 21 26 29
+f 21 29 30
+f 22 32 33
+f 22 33 31
+f 23 34 24
+f 24 34 33
+f 24 33 35
+f 28 36 29
+f 29 33 37
+f 29 37 38
+f 29 38 30
+f 29 36 33
+f 31 33 39
+f 32 38 37
+f 32 37 33
+f 33 40 35
+f 33 34 41
+f 33 41 42
+f 33 42 39
+f 33 36 43
+f 33 43 40
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_83.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3daafafbccbdf55e9a586656346136153b28defd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_83.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01762553 -0.04764389 0.13582389
+v 0.01762834 -0.04764389 0.13553987
+v 0.01762553 -0.04764391 0.14257725
+v 0.01762553 -0.03004372 0.13529986
+v 0.03200503 -0.04764388 0.13403828
+v 0.02826481 -0.03004371 0.13294084
+v 0.03200503 -0.03004371 0.13225810
+v 0.01767480 -0.04764391 0.14257833
+v 0.01762553 -0.04621901 0.14282271
+v 0.01762553 -0.03004374 0.14287422
+v 0.03200503 -0.04764391 0.14136934
+v 0.03200503 -0.03004374 0.14171775
+v 0.01781416 -0.04764391 0.14257940
+v 0.01781416 -0.04615354 0.14283664
+v 0.01762553 -0.04613976 0.14283449
+v 0.01914020 -0.03004374 0.14283134
+v 0.01762553 -0.03050895 0.14295031
+v 0.03036367 -0.04764391 0.14158156
+v 0.03200503 -0.04600537 0.14176163
+v 0.03158694 -0.03004374 0.14177241
+v 0.02873357 -0.03703384 0.14289026
+v 0.03113226 -0.03970101 0.14264909
+v 0.03200503 -0.03970101 0.14247653
+v 0.01843072 -0.04764391 0.14257619
+v 0.02009883 -0.04613631 0.14282592
+v 0.02601533 -0.03970102 0.14310247
+v 0.02191474 -0.03560723 0.14320645
+v 0.01762553 -0.04399293 0.14288274
+v 0.02756519 -0.03004374 0.14222792
+v 0.02191474 -0.03233358 0.14297174
+v 0.01762553 -0.03126189 0.14298353
+v 0.01803798 -0.03119125 0.14299104
+v 0.02625182 -0.04764391 0.14206279
+v 0.03200503 -0.04368797 0.14226431
+v 0.03011591 -0.03004374 0.14195997
+v 0.02459779 -0.03314165 0.14289456
+v 0.02598436 -0.03564341 0.14301996
+v 0.02908127 -0.03970101 0.14291061
+v 0.02875187 -0.04209939 0.14285274
+v 0.02163039 -0.04764391 0.14249044
+v 0.01762553 -0.03567443 0.14302210
+v 0.03011732 -0.04359665 0.14248511
+f 1 2 5
+f 1 5 11
+f 1 11 18
+f 1 18 33
+f 1 33 40
+f 1 40 24
+f 1 24 13
+f 1 13 8
+f 1 8 3
+f 1 3 9
+f 1 9 15
+f 1 15 28
+f 1 28 41
+f 1 41 31
+f 1 31 17
+f 1 17 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 4 10 16
+f 4 16 29
+f 4 29 35
+f 4 35 20
+f 4 20 12
+f 4 12 7
+f 4 7 6
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+f 5 12 23
+f 5 23 34
+f 5 34 19
+f 5 19 11
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 10 17 16
+f 11 19 18
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 13 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 16 17 30
+f 16 30 29
+f 17 31 32
+f 17 32 30
+f 18 19 33
+f 19 34 33
+f 20 35 21
+f 21 35 36
+f 21 36 37
+f 21 37 26
+f 21 26 38
+f 21 38 22
+f 22 38 39
+f 22 39 34
+f 22 34 23
+f 24 40 25
+f 25 40 39
+f 25 39 26
+f 26 39 38
+f 26 37 27
+f 27 37 30
+f 27 30 32
+f 27 32 31
+f 27 31 41
+f 27 41 28
+f 29 30 36
+f 29 36 35
+f 30 37 36
+f 33 34 42
+f 33 42 40
+f 34 39 42
+f 39 40 42
+
diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_84.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..915eb75123f90569cb0e92ef7d828b2fda6539c4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_84.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.06042395 0.04361744 0.12163499
+v 0.06002705 0.04361744 0.12197748
+v 0.06593014 0.04059954 0.12746892
+v 0.06593014 0.04059955 0.12545849
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_85.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9743ffcca5c7302d57b1713f6a03939ff9e7552c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_85.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_86.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86c397cbebf45571b50a5ad918c5382daf1afa3a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_86.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_9.obj b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99e291df9df56d34215c5c4f74fde4a31e35142d
--- /dev/null
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/mjcf/mesh/houseplant_021_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f81b4ba1b2c7ea24bc5b8049d6f1d577b02ebb43
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/textures/material_0.png b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/textures/material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/video.mp4 b/dataset/livingroom_supplies/ornaments/38ec252c3abb586fad3e97d8d67812e1/video.mp4
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