diff --git a/.gitattributes b/.gitattributes
index cc4e3597f11c0b25447fe1cc722a7f8d0e810465..90e141c86c039420fdfe4d3368b36e1f57cce94a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4991,3 +4991,5 @@ dataset/livingroom_supplies/ornaments/a8586ab62b855d72a7d3a03a0a953466/candle_ho
 dataset/livingroom_supplies/ornaments/a8586ab62b855d72a7d3a03a0a953466/mesh/candle_holder_018.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/a8586ab62b855d72a7d3a03a0a953466/mesh/candle_holder_018.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/a8586ab62b855d72a7d3a03a0a953466/mjcf/mesh/candle_holder_018.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/houseplant_029.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mesh/houseplant_029.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/houseplant_029.urdf b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/houseplant_029.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..93c879c617acbc97c55c0f201d97d2f3cebf8834
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/houseplant_029.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="houseplant_029">
+   <link name="houseplant_029">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/houseplant_029.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_029_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="2.2500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>a5185bf234c052699756c923f71a036c</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>houseplant</category>
+         <name>bamboo plant</name>
+         <color>green,blue</color>
+         <shape>irregular</shape>
+         <material>organic</material>
+         <description>potted lucky bamboo cluster with narrow leaves and round saucer</description>
+         <min_height>0.2500</min_height>
+         <max_height>0.2500</max_height>
+         <real_height>0.2500</real_height>
+         <min_mass>1.5</min_mass>
+         <max_mass>3.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518200804</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.063141 -0.086468 -0.055985</min>
+            <max>0.076520 0.080895 0.194015</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/houseplant_029.usd b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/houseplant_029.usd
new file mode 100644
index 0000000000000000000000000000000000000000..279528f982087248f40da875cf8fbcd9eae83ce3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/houseplant_029.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0258123056bece5b8e091f97a58858f9ff391323f367068abfe9afd530e833cc
+size 5051958
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mesh/houseplant_029.glb b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mesh/houseplant_029.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ab2c6f5d970c7d92649eb56fad91d6525c5806bc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mesh/houseplant_029.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0b9b33bf8ec39e6b28f78a6fd89036d8a59deca3695a048a796a5fc918df925
+size 17428364
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mesh/houseplant_029.mtl b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mesh/houseplant_029.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f513eb6e79054e4f72860bd7fe89c92e5af69397
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mesh/houseplant_029.mtl
@@ -0,0 +1,6 @@
+newmtl houseplant_029_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/a5185bf234c052699756c923f71a036c/mesh/houseplant_029.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mesh/houseplant_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6e8389b3f6cdda9cae0a53c412967323616d419
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mesh/houseplant_029.obj
@@ -0,0 +1,126502 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl houseplant_029_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mesh/houseplant_029_collision.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mesh/houseplant_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bf5b11e9f274189ee2bf9769e670965629d71fb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mesh/houseplant_029_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mesh/houseplant_029_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mesh/houseplant_029_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..03efcb55f798b3b6cfde7514db656b4dce894d82
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mesh/houseplant_029_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:1f96cdb6d26e3ea35ad3b16c46f1357261c756da91cae77717d6b61e6762f155
+size 13871382
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..280bd3afc6b5fd1e2e2674f5920fe9fa10f9514b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl houseplant_029_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mesh/material_0.png
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
+oid sha256:1f96cdb6d26e3ea35ad3b16c46f1357261c756da91cae77717d6b61e6762f155
+size 13871382
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/houseplant_029.xml b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/houseplant_029.xml
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index 0000000000000000000000000000000000000000..608ec8f147f088cb035e11e30b17a5dcec96156d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/houseplant_029.xml
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+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c0e41fbf151fac8a3592c370706e6a204429fdb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029.obj
@@ -0,0 +1,126502 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl houseplant_029_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e751ee839ee063899c135ba764659ba0e6e7ba2b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision.obj
@@ -0,0 +1,18855 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_0.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9fe254a3aa3b31dd997def7c96360137a1b4204
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_0.obj
@@ -0,0 +1,1987 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_1.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b4c0007d54012fbf728ecb255bc2baadb9736d1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_10.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..174d9cbb3a0bd106459f65bebe7848b895263f3c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_10.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_11.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c67338617b273ef225901a9c9859f7df045c41a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_11.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_12.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46beb5a63729adb9e6dc82b1ae83183e75d2dccc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_12.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.01326283 0.00170461 0.07551015
+v -0.01326283 0.00170461 0.07587105
+v -0.01385144 0.00170461 0.07582418
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+v -0.02012312 0.01474337 0.04331006
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_13.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f87fdc611e99481fe6ba4b7ec8999ac8e4098cc5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_13.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.03172951 -0.00906999 0.18574407
+v 0.03364152 -0.01312047 0.17838716
+v 0.03157547 -0.00678396 0.18571278
+v 0.03030379 -0.00906999 0.18574407
+v 0.03157637 -0.01134645 0.18498472
+v 0.03364152 -0.01900362 0.17869088
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+v 0.03157547 -0.00678396 0.18388225
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+v 0.03046409 -0.01134645 0.18498472
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+v 0.03364152 -0.01900360 0.17390182
+v 0.03244595 -0.01033439 0.17420443
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+v 0.02921390 -0.00966090 0.17420443
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+v 0.02614841 -0.01052698 0.17390185
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_14.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e54b7f5f2fedd8b017aefb8bae11a3c53abffbb1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_14.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.02473479 0.03746821 0.14104477
+v 0.02473479 0.03816469 0.14422289
+v 0.02473479 0.03825256 0.13818446
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+v 0.03943319 0.06412313 0.13074597
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_15.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8795d59db486b4aebc1272ed51b81d3bf96b4129
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_15.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.02952596 -0.01324961 0.05410707
+v 0.02937966 -0.00906797 0.05410709
+v 0.02908706 -0.01324969 0.07586810
+v 0.02908132 -0.01327206 0.07586810
+v 0.02951448 -0.01327198 0.05413627
+v 0.02951448 -0.01327198 0.05410707
+v 0.02749497 -0.01187536 0.03325953
+v 0.02749784 -0.01186577 0.03325953
+v 0.02749784 -0.00968786 0.03325953
+v 0.02458619 0.00170330 0.05818237
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+v 0.02852194 -0.01036392 0.07586811
+v 0.02696141 -0.00767134 0.03325954
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+v 0.01726832 -0.01327206 0.07586810
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+v 0.01583688 0.00216997 0.03325958
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_16.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9573aac1a9933ab72b41b7057362f1379cbfa918
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_16.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.03392661 0.03266180 0.14106947
+v 0.03615278 0.03170492 0.14106947
+v 0.03302284 0.03140580 0.13722455
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+v 0.05646224 0.01411327 0.13028130
+v 0.03145004 0.03080753 0.13469543
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+v 0.02921603 0.03176440 0.13693358
+v 0.03199778 0.03266180 0.14106947
+v 0.02921603 0.03212112 0.14106947
+v 0.03340234 0.03203378 0.14543413
+v 0.05673611 0.01368035 0.13107920
+v 0.05646224 0.01411327 0.13096025
+v 0.03591412 0.03103601 0.14743618
+v 0.05681827 0.01368035 0.12991530
+v 0.02822228 0.02746497 0.12969940
+v 0.02576527 0.02753001 0.12874229
+v 0.02502973 0.02768422 0.12874229
+v 0.02675902 0.03089671 0.13423975
+v 0.02656340 0.03102119 0.13693357
+v 0.02678641 0.03090969 0.14106946
+v 0.02705637 0.03074803 0.14324173
+v 0.02921603 0.03130915 0.14401218
+v 0.03481864 0.03103601 0.14743618
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+v 0.03591412 0.03037642 0.14743618
+v 0.05406001 0.01368036 0.12874224
+v 0.02915344 0.02596370 0.12874229
+v 0.02222451 0.02708408 0.12874229
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+v 0.01684882 0.02020199 0.12874226
+v 0.01839032 0.02159919 0.13557748
+v 0.02254924 0.01368034 0.13335578
+v 0.01842945 0.01761191 0.13122196
+v 0.01781911 0.01693189 0.12874225
+v 0.01783084 0.02020383 0.13267685
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+f 58 62 60
+f 60 62 61
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_17.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b5d24450688a8f7718f887564992e8c68090d28
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_17.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.01773086 -0.02997941 0.17390330
+v 0.02176949 -0.03435785 0.18256240
+v 0.02204984 -0.03068441 0.18123445
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+v 0.01809376 -0.03220863 0.17390329
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+v 0.02276786 -0.03588211 0.18472300
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+v 0.02365564 -0.03997850 0.17390326
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+v 0.02259964 -0.04596884 0.18330231
+v 0.02659467 -0.05793425 0.18928723
+v 0.02627849 -0.05506484 0.18942399
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+v 0.02345160 -0.03588211 0.18472300
+v 0.03364241 -0.01900861 0.17390334
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+v 0.02495460 -0.01981265 0.17390334
+v 0.02815529 -0.05180294 0.18907606
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+v 0.02584706 -0.04245541 0.17390325
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+v 0.02830637 -0.05793424 0.18775263
+v 0.02830637 -0.05793425 0.18928723
+v 0.02876740 -0.05506484 0.18942399
+v 0.03364241 -0.03613358 0.17390328
+v 0.02885306 -0.01900861 0.17390334
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+v 0.02831883 -0.04245160 0.17390325
+v 0.02805094 -0.05385685 0.18408022
+v 0.03298203 -0.03734155 0.17390327
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+v 0.03364241 -0.03690332 0.17461891
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+v 0.03131082 -0.04900592 0.18470624
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+v 0.03364241 -0.03815323 0.17849948
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_18.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afdf2e6ff310e235e9918bb985295222fa9e2b3b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_18.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.04268073 0.02839621 0.13679688
+v -0.04239463 0.02683374 0.13679688
+v -0.04332596 0.03007682 0.14521371
+v -0.04339597 0.03287351 0.14528094
+v -0.04151200 0.03255696 0.13679690
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+v -0.04045893 0.03283269 0.13679690
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+v -0.03572923 0.02078226 0.13679686
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+v -0.02834555 0.03501223 0.14760322
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+v -0.03679144 0.03343959 0.13679690
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+v -0.02438283 0.03379410 0.13679690
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+v -0.02567330 0.02700437 0.15178999
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+v -0.01230294 0.02518078 0.14463753
+v -0.01230294 0.02856394 0.14581227
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_19.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c7b942008e81d6b2f07911721e398de78dc672f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_19.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.03222668 -0.02170753 0.10604130
+v 0.03222668 -0.02103945 0.10426962
+v 0.03222668 -0.00258972 0.10604137
+v 0.02259743 -0.01975383 0.10604131
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+v 0.02795879 -0.01627112 0.07587545
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+f 9 25 11
+f 10 11 27
+f 10 27 26
+f 11 25 28
+f 11 28 27
+f 12 29 44
+f 12 44 30
+f 12 30 42
+f 12 42 20
+f 13 32 27
+f 13 27 33
+f 13 33 34
+f 13 34 35
+f 13 35 36
+f 13 36 31
+f 15 37 38
+f 15 38 39
+f 15 21 40
+f 15 40 20
+f 15 20 41
+f 15 41 42
+f 15 42 37
+f 16 22 17
+f 20 42 41
+f 20 40 21
+f 22 24 23
+f 26 27 32
+f 27 28 33
+f 28 43 33
+f 29 31 36
+f 29 36 44
+f 30 44 39
+f 30 39 38
+f 30 38 37
+f 30 37 42
+f 33 43 34
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_2.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fed5797f11964ec44e057ceedbccbfe211049ba9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_2.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.01662805 0.02555929 0.12857279
+v -0.01671588 0.02555929 0.12874227
+v 0.00890228 0.01053718 0.12874222
+v -0.00331831 0.01717474 0.12355820
+v -0.01732486 0.02555930 0.12580316
+v -0.04451817 0.02555929 0.12874227
+v 0.00890228 0.01025400 0.12874222
+v 0.00890228 0.01025400 0.12846566
+v 0.00738568 0.01025402 0.12355818
+v -0.01641139 0.02359202 0.12355823
+v -0.01778745 0.02555930 0.12462741
+v -0.01774061 0.02555930 0.12474615
+v -0.04176605 0.02555929 0.12760103
+v -0.05053771 0.02202327 0.12874226
+v -0.03233271 0.01025400 0.12874222
+v -0.03547716 0.01025402 0.12355818
+v -0.02090848 0.02555931 0.12355823
+v -0.04060079 0.02555929 0.12721436
+v -0.04889815 0.02019982 0.12806278
+v -0.05091832 0.02009044 0.12874225
+v -0.03205164 0.02014440 0.12355821
+v -0.04327094 0.01908058 0.12640142
+v -0.03261964 0.01027198 0.12874222
+v -0.03261964 0.01025400 0.12873207
+v -0.03560013 0.01025401 0.12422648
+v -0.04580054 0.01611990 0.12874224
+v -0.03533663 0.01069153 0.12355818
+v -0.02501324 0.02555931 0.12355823
+v -0.03663071 0.02555930 0.12623499
+v -0.03845179 0.01245053 0.12874223
+v -0.03565283 0.01025401 0.12454363
+v -0.04477582 0.01557302 0.12874224
+v -0.04067691 0.01345140 0.12874223
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 11
+f 1 11 17
+f 1 17 28
+f 1 28 29
+f 1 29 18
+f 1 18 13
+f 1 13 6
+f 1 6 2
+f 2 6 14
+f 2 14 20
+f 2 20 26
+f 2 26 32
+f 2 32 33
+f 2 33 30
+f 2 30 23
+f 2 23 15
+f 2 15 7
+f 2 7 3
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+f 3 8 9
+f 3 9 4
+f 4 9 16
+f 4 16 27
+f 4 27 21
+f 4 21 28
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+f 4 10 11
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+f 7 25 16
+f 7 16 9
+f 7 9 8
+f 10 17 11
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+f 16 20 19
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+f 18 29 21
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+f 21 29 28
+f 23 30 24
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+f 26 31 32
+f 30 33 31
+f 31 33 32
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_20.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8e7cbc4cbd7beda62bf0119e0dbf314ba4c64f6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_20.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.03813098 -0.00672670 0.15354967
+v 0.03792952 -0.00672671 0.15444685
+v 0.03977402 -0.01677587 0.16283504
+v 0.04072984 -0.01973509 0.16231872
+v 0.04032244 -0.01973507 0.15894180
+v 0.03931289 -0.01973505 0.15354962
+v 0.02762809 -0.00672670 0.15354967
+v 0.03665359 -0.00672672 0.15695114
+v 0.03995086 -0.01769648 0.16283503
+v 0.03747959 -0.01461502 0.16283505
+v 0.04028439 -0.01973509 0.16256324
+v 0.03322874 -0.01973505 0.15354962
+v 0.01982703 -0.01353392 0.15354964
+v 0.01786390 -0.01415914 0.15419049
+v 0.01786390 -0.01415915 0.15692020
+v 0.02787656 -0.00672670 0.15380601
+v 0.03743482 -0.01460356 0.16283505
+v 0.03526798 -0.00672672 0.15695114
+v 0.02921517 -0.01369822 0.16283505
+v 0.03978745 -0.01973509 0.16283503
+v 0.03150512 -0.01973505 0.15365870
+v 0.02442932 -0.01623084 0.15354963
+v 0.02129099 -0.01496005 0.15354964
+v 0.01786390 -0.01613153 0.15419048
+v 0.01786390 -0.01613154 0.15692019
+v 0.01939501 -0.01973509 0.16283503
+v 0.01971063 -0.01829622 0.16283503
+v 0.02036651 -0.01763154 0.16283504
+v 0.02489940 -0.01427504 0.16283505
+v 0.03372568 -0.00672672 0.15668481
+v 0.02279300 -0.01973508 0.15950992
+f 1 2 3
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+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 22
+f 1 22 23
+f 1 23 13
+f 1 13 7
+f 1 7 16
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+f 1 18 8
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+f 4 6 5
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+f 18 30 29
+f 18 29 19
+f 21 31 24
+f 21 24 23
+f 21 23 22
+f 24 31 26
+f 24 26 25
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_21.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b4f2543601b533aebbd846688de2ea305654cc8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_21.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00126425 0.03100549 0.07065832
+v -0.00203681 0.03100549 0.07065635
+v 0.00295625 0.03100551 0.06549764
+v 0.00671177 0.03454755 0.06461589
+v 0.00682980 0.03692971 0.06489933
+v 0.00680119 0.03935157 0.06488752
+v 0.00473923 0.03935157 0.06590509
+v 0.00055271 0.03935156 0.06768240
+v -0.01143993 0.03100550 0.06795201
+v -0.01143993 0.03708852 0.06653689
+v -0.01143993 0.03495875 0.06720804
+v -0.01143993 0.03274958 0.06790085
+v 0.00456397 0.03100552 0.06257876
+v 0.00671177 0.03454755 0.06413368
+v 0.00682980 0.03692972 0.06397623
+v 0.00680119 0.03935157 0.06409826
+v -0.00567967 0.05997714 0.05209021
+v 0.00043110 0.04690076 0.06113218
+v -0.00603734 0.05997714 0.05209021
+v -0.01143993 0.03100553 0.05881749
+v -0.01143993 0.03720763 0.06632826
+v -0.00755922 0.05778498 0.05288930
+v -0.00995203 0.05635853 0.05228899
+v 0.00419736 0.03100554 0.05824473
+v 0.00429572 0.03274962 0.05824474
+v 0.00249843 0.03908219 0.05615648
+v -0.00138407 0.04864487 0.05174770
+v -0.00165590 0.05143256 0.05213545
+v -0.00567967 0.05997714 0.05188157
+v -0.00603734 0.05997714 0.05188157
+v -0.00372859 0.03100555 0.05407013
+v -0.01143993 0.03265035 0.05922295
+v -0.00995203 0.05635853 0.05181661
+v -0.00995203 0.05515610 0.05181660
+v -0.00714791 0.04947295 0.05083050
+v -0.00643078 0.04529567 0.05138357
+v -0.00595508 0.04260156 0.05181459
+v -0.01143993 0.03717361 0.06193518
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+v 0.00277562 0.03274963 0.05574510
+v 0.00260573 0.03692974 0.05597146
+v -0.00113907 0.04529567 0.05153709
+v -0.00400757 0.05365308 0.05055104
+v -0.00497149 0.05783603 0.05115529
+v -0.00755922 0.05778498 0.05120056
+v -0.00163980 0.03481134 0.05202714
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+v -0.01143993 0.03502400 0.06034878
+v -0.00808321 0.05371830 0.05071834
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+v -0.00160582 0.03481134 0.05202714
+v -0.00130002 0.03692976 0.05182442
+v -0.00113191 0.03935446 0.05166302
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+f 1 13 3
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+f 32 48 33
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+f 39 42 40
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+f 47 53 54
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+f 47 55 52
+f 51 52 55
+f 51 55 54
+f 51 54 53
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_22.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c60de5e17c9533dbbb0ff5a57d500e61b0ea743
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_22.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.00875302 -0.02010734 0.02333422
+v 0.02099090 -0.01782450 0.02333422
+v 0.02099090 -0.01730085 0.02925325
+v 0.02099090 -0.01660717 0.03325852
+v 0.01821524 -0.01587267 0.03325852
+v 0.00875302 -0.00633326 0.03325856
+v 0.00875302 0.00305203 0.02333430
+v 0.02508179 -0.01683384 0.02333423
+v 0.02413270 -0.01610617 0.03325852
+v 0.00875302 0.00305200 0.03325859
+v 0.02057568 0.00305203 0.02333430
+v 0.02720086 -0.01539205 0.02707721
+v 0.02720086 -0.01539205 0.02732396
+v 0.02519429 -0.01619684 0.02892296
+v 0.02426770 -0.01606990 0.03325852
+v 0.02859381 -0.01320442 0.02333424
+v 0.01297890 0.00305200 0.03325859
+v 0.02551133 -0.00113960 0.02333429
+v 0.01663820 0.00305201 0.03021408
+v 0.02630905 -0.01409083 0.03325853
+v 0.02433725 -0.01600416 0.03325852
+v 0.02749132 -0.01201655 0.03325854
+v 0.02939358 -0.01043871 0.02333425
+v 0.01583638 0.00217015 0.03325859
+v 0.02489565 -0.00561690 0.03325856
+v 0.02693905 -0.00760730 0.03325855
+v 0.02885563 -0.00481436 0.02333427
+v 0.02964926 -0.00906720 0.02333426
+v 0.02749745 -0.01186693 0.03325854
+v 0.02696359 -0.00767304 0.03325855
+v 0.02749745 -0.00968837 0.03325854
+v 0.02910722 -0.00586170 0.02333427
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 7
+f 1 7 11
+f 1 11 18
+f 1 18 27
+f 1 27 32
+f 1 32 28
+f 1 28 23
+f 1 23 16
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+f 11 19 18
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+f 19 24 25
+f 22 23 28
+f 22 28 29
+f 26 30 27
+f 27 30 31
+f 27 31 32
+f 28 31 29
+f 28 32 31
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_23.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cf2f2bfcddb9e56d22fc14b58a158286b175092
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_23.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.00091358 0.06469401 0.07587575
+v -0.00367778 0.06515474 0.07400828
+v -0.00024174 0.06443236 0.07587575
+v 0.00269080 0.06430153 0.07587575
+v -0.00147252 0.06840546 0.06897449
+v -0.00227266 0.06840546 0.06897449
+v -0.00592207 0.06441815 0.07323907
+v -0.00367778 0.06328622 0.07587574
+v -0.00365696 0.06711996 0.07047972
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+v -0.00227266 0.06840546 0.06809127
+v -0.00601314 0.06496989 0.07066733
+v -0.00582709 0.06089442 0.07587573
+v -0.00648932 0.03935116 0.06113216
+v 0.00252167 0.06416219 0.07264737
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+v 0.00043350 0.04690199 0.06113219
+v 0.00409462 0.06100249 0.07587573
+v -0.00365696 0.06628383 0.06745193
+v -0.00591686 0.06494716 0.06815909
+v -0.00580757 0.06012654 0.07587573
+v -0.00451304 0.04427128 0.06113218
+v 0.00478677 0.03935116 0.06113216
+v -0.00566056 0.03935115 0.06226361
+v -0.00556818 0.05935297 0.07587573
+v 0.00679297 0.04006498 0.06413830
+v 0.00447322 0.04111444 0.06113217
+v 0.00327236 0.04429403 0.06113218
+v -0.00350084 0.04559374 0.06113219
+v 0.00464626 0.05785134 0.07587572
+v 0.00471391 0.03976354 0.06113217
+v 0.00680208 0.03935114 0.06410222
+v -0.00238064 0.03935114 0.06655562
+v -0.00198773 0.04187944 0.06890945
+v -0.00210873 0.05265250 0.07587570
+v 0.00679297 0.04006498 0.06488587
+v 0.00476205 0.05655163 0.07587572
+v 0.00680208 0.03935114 0.06488875
+v -0.00045901 0.03935113 0.06733493
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+v 0.00073404 0.05033748 0.07587569
+v -0.00030159 0.05113949 0.07587570
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+v 0.00473993 0.03935114 0.06590763
+v 0.00422082 0.05243635 0.07587570
+v 0.00332571 0.05049390 0.07587570
+v 0.00274154 0.05004170 0.07587569
+f 1 2 3
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+f 42 49 43
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_24.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ebc9b4e373f97e37609f411c0f130f0e0a64373
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_24.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.03364466 -0.03098215 0.17390367
+v 0.03364466 -0.03098218 0.18152246
+v 0.03364466 -0.01156860 0.17390374
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+v 0.03944971 -0.01946717 0.18459284
+v 0.03364466 -0.01312155 0.17838750
+v 0.03648203 -0.03098218 0.18298725
+v 0.05178544 -0.02790887 0.19285838
+v 0.04634657 -0.02579557 0.18958450
+v 0.03364466 -0.01152844 0.17399886
+v 0.03468930 -0.01242156 0.17390373
+v 0.04099083 -0.02499036 0.17390369
+v 0.04044268 -0.03098215 0.17437545
+v 0.05015670 -0.02608436 0.19177597
+v 0.04705423 -0.02276047 0.18922878
+v 0.04155022 -0.01906937 0.18515402
+v 0.03364466 -0.01308521 0.17835326
+v 0.04977030 -0.02248125 0.18998591
+v 0.03656965 -0.03098218 0.18300627
+v 0.05388146 -0.02821104 0.19322553
+v 0.05178544 -0.02767172 0.19285838
+v 0.03364466 -0.01144620 0.17420431
+v 0.03635623 -0.01436081 0.17390373
+v 0.05280087 -0.02301673 0.18749387
+v 0.04099083 -0.02496550 0.17390369
+v 0.04372262 -0.02406664 0.17615794
+v 0.04098634 -0.03098215 0.17485103
+v 0.05388146 -0.02676903 0.19322553
+v 0.05280087 -0.02301674 0.18988318
+v 0.05659303 -0.02661221 0.19333587
+v 0.04188271 -0.03098219 0.18410581
+v 0.05659303 -0.02829710 0.19333587
+v 0.03821411 -0.01733089 0.17390372
+v 0.04773044 -0.02368607 0.18040202
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+v 0.04773044 -0.02378361 0.18040202
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+v 0.05659303 -0.02829709 0.19169036
+v 0.04041347 -0.02173150 0.17390370
+v 0.04304192 -0.03098216 0.17704630
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+f 30 32 42
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+f 34 36 40
+f 35 42 36
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+f 41 45 42
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_25.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ded4067238230b4e495805d36afd24bdd0abaac
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_25.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.00021919 0.00170376 0.07587234
+v -0.00887199 0.00170376 0.07587234
+v 0.00021919 -0.00090254 0.07587233
+v 0.00021919 0.00170388 0.04331498
+v -0.00576882 0.00305196 0.04329441
+v -0.00742696 0.00305196 0.04330984
+v -0.01389839 0.00170167 0.07587234
+v -0.00477082 -0.00815084 0.07587230
+v 0.00021919 -0.00329140 0.05722550
+v 0.00021919 -0.00257237 0.04331496
+v -0.00876283 0.00305203 0.02333625
+v -0.00576882 0.00305200 0.03326648
+v -0.01839460 0.00305203 0.02333625
+v -0.02314551 -0.00621545 0.07587231
+v -0.01637261 -0.01675558 0.07587227
+v -0.01633882 -0.01678065 0.07480262
+v -0.01337600 -0.01592982 0.02333618
+v -0.00446934 -0.00844124 0.04582964
+v 0.00021919 -0.00329976 0.05693752
+v -0.00450832 -0.00840361 0.04331494
+v -0.00876283 -0.01072977 0.02333620
+v 0.00021919 -0.00330393 0.05384686
+v -0.02343400 -0.00573455 0.02333622
+v -0.02583544 -0.00930663 0.07587230
+v -0.01918209 -0.01776716 0.07587226
+v -0.02012032 -0.01814545 0.07480261
+v -0.01588920 -0.01756215 0.02333618
+v -0.02466071 -0.00906818 0.02333621
+v -0.02617851 -0.01058993 0.07587229
+v -0.02012032 -0.01809948 0.07587226
+v -0.02375627 -0.01668452 0.07587227
+v -0.02377446 -0.01670332 0.07480262
+v -0.02278686 -0.01751617 0.02333618
+v -0.02012292 -0.01829994 0.02333617
+v -0.02508434 -0.01325037 0.02333619
+v -0.02633185 -0.01130890 0.07587229
+v -0.02428386 -0.01598226 0.07587227
+v -0.02387582 -0.01706680 0.02333618
+v -0.02432025 -0.01596326 0.02333618
+v -0.02633185 -0.01206968 0.07587229
+v -0.02583285 -0.01340104 0.07587228
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+f 35 39 40
+f 35 40 36
+f 37 41 38
+f 38 41 39
+f 39 41 40
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_26.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7940ae26b74481a03805e116f701068116283d13
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_26.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.05301085 0.03947446 0.09029324
+v -0.05301085 0.03947446 0.08880328
+v -0.05530693 0.03931455 0.08969624
+v -0.04889789 0.03640144 0.09450626
+v -0.04478910 0.03593237 0.09496550
+v -0.05045223 0.03933054 0.09023371
+v -0.05314002 0.03689453 0.08866551
+v -0.05530693 0.03931455 0.08896827
+v -0.05045223 0.03933054 0.08897337
+v -0.04900623 0.03674794 0.08875055
+v -0.05530693 0.03826712 0.08969624
+v -0.05171904 0.03274476 0.09416268
+v -0.05157319 0.03584176 0.09389565
+v -0.04711436 0.03105233 0.09775999
+v -0.04478910 0.03181992 0.09813249
+v -0.04478910 0.03391478 0.09703544
+v -0.04068031 0.03221704 0.09857812
+v -0.03657152 0.03141481 0.09828897
+v -0.04223465 0.03522075 0.09451137
+v -0.05530693 0.03826712 0.08896827
+v -0.04870203 0.03269148 0.08888490
+v -0.05185655 0.03404808 0.08890873
+v -0.04223465 0.03522076 0.09292446
+v -0.01273970 0.01532485 0.10056296
+v -0.04647678 0.03523143 0.08910773
+v -0.04602257 0.03274478 0.08907710
+v -0.05135649 0.03008221 0.09395176
+v -0.04703101 0.02611368 0.09773107
+v -0.04718936 0.02856302 0.09782461
+v -0.04478910 0.02856302 0.09895909
+v -0.04068031 0.02856301 0.10029597
+v -0.02030721 0.01660947 0.10604144
+v -0.01273970 0.01536748 0.10604144
+v -0.03440044 0.03074317 0.09775489
+v -0.05135649 0.03008222 0.09271354
+v -0.04719353 0.03046069 0.08919785
+v -0.04611841 0.03046069 0.08919785
+v -0.04993550 0.03126292 0.08995303
+v -0.04737688 0.02599910 0.09299757
+v -0.03440044 0.03074317 0.09743173
+v -0.01273970 0.01224653 0.10056294
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+v -0.03044584 0.02205723 0.09346869
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+v -0.04359313 0.02137758 0.09829233
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+v -0.02878315 0.01230785 0.09530729
+v -0.04259302 0.02236640 0.09353842
+v -0.04478910 0.02513023 0.09235463
+v -0.03341700 0.01230784 0.09819025
+v -0.03502551 0.01230783 0.09970912
+v -0.03492133 0.01224653 0.10056294
+v -0.02687044 0.01224651 0.10604142
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_27.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9a8c025b0a304ed8589d370eb855dafbc9e3bfe
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_27.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.02942139 0.05625257 0.06525761
+v -0.02503727 0.05265085 0.06580667
+v -0.02942139 0.05625258 0.06395109
+v -0.03105771 0.05625257 0.06525761
+v -0.02423499 0.04885139 0.06888115
+v -0.02126990 0.04804872 0.06877115
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+v -0.02503727 0.05265086 0.06370783
+v -0.03105771 0.05625258 0.06395109
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+v -0.02117630 0.04118020 0.07038795
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+v -0.02012330 0.04118020 0.07016975
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+v -0.02673877 0.04195632 0.07038795
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+v -0.01457754 0.04118021 0.06702462
+v -0.01406943 0.04118022 0.06648985
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+v -0.01406943 0.04118022 0.06578875
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+f 28 39 40
+f 28 40 29
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+f 33 41 34
+f 34 41 35
+f 35 41 36
+f 37 39 38
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_28.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43f500d66ef5d44b3ec6a04beb47e7da98c80c04
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_28.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.04695520 -0.01723238 0.14520469
+v 0.04630009 -0.01723238 0.14473192
+v 0.04575930 -0.01723240 0.14921096
+v 0.05258294 -0.01912723 0.14782655
+v 0.05258294 -0.01912723 0.14644969
+v 0.06026392 -0.02361078 0.14298210
+v 0.06476171 -0.02766385 0.13875168
+v 0.04341588 -0.01723238 0.14316483
+v 0.04575051 -0.01723240 0.14922414
+v 0.04977346 -0.01844518 0.14849144
+v 0.04197817 -0.01723240 0.15090237
+v 0.03929620 -0.01971890 0.15354872
+v 0.04175833 -0.02145454 0.15354871
+v 0.04956682 -0.02178082 0.15055955
+v 0.05392832 -0.02149187 0.14859879
+v 0.05718185 -0.02280096 0.14784538
+v 0.06533328 -0.02700145 0.14400484
+v 0.06026392 -0.02361078 0.14396530
+v 0.07285598 -0.03164027 0.13806794
+v 0.07032790 -0.03090906 0.13738988
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_29.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c39fa02ee22a16299a537e9d9f9304ab31a3871d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_29.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.00971974 0.00305281 0.02333430
+v -0.00971974 0.00305281 0.02495502
+v -0.00971974 0.00414094 0.02333431
+v 0.02057316 0.00305281 0.02333430
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+v -0.00971974 0.00416513 0.02334213
+v -0.00970341 0.00417138 0.02333431
+v 0.02364294 0.00715631 0.02333432
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+v 0.01564844 0.00305274 0.04330683
+v -0.00298907 0.00747471 0.04330685
+v -0.00218244 0.01043158 0.03339489
+v -0.00216611 0.01034104 0.03034700
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+v 0.00341828 0.01068686 0.02333433
+v 0.00043341 0.01102638 0.03339489
+v 0.00293169 0.00996631 0.04330686
+v -0.00086962 0.00956588 0.04330686
+v -0.00005972 0.00973370 0.04330686
+v 0.00118779 0.00996631 0.04330686
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+f 1 4 10
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+f 1 5 2
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+f 16 20 17
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_3.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d8b8166175fe52b979b9e2537a0d865eb56c407
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_3.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.02951602 -0.01327429 0.05410707
+v 0.02907665 -0.01327437 0.07587227
+v 0.02878748 -0.01406993 0.07587227
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+v 0.01598168 -0.02556221 0.07502548
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+v 0.01539209 -0.01187683 0.03325953
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+v -0.00579944 -0.01950072 0.07282729
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+v -0.00602852 -0.02853828 0.06121053
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_30.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93126c48eaf3b3d5236e2c5057123b074a95143f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_30.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.05578560 0.03677299 0.12874232
+v -0.04176772 0.02556079 0.12760176
+v -0.04443955 0.02556079 0.12870771
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+v -0.04210118 0.04369252 0.12617188
+v -0.03788758 0.03969447 0.12617489
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_31.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..051f03e8c909ef016fecda3343d4641f43d2184d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_31.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.00891552 0.05818907 0.15354900
+v 0.00889105 0.05818907 0.15354900
+v 0.01141548 0.05671676 0.15354900
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+v 0.01419175 0.07038090 0.13528391
+v 0.01271033 0.04312105 0.13936001
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_32.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b71085bd002b1cdfc41e44cff50711aeb073f097
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_32.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.00367511 0.01530284 0.02333435
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+v -0.00671304 0.03118889 0.10603957
+v -0.00379288 0.03528163 0.09575001
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_33.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f15a8ae2c013098df6bc2cade6397f2b42f4de60
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_33.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.04170151 -0.02650382 0.13640630
+v -0.04104364 -0.02650382 0.13698695
+v -0.03865452 -0.02365285 0.13902090
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+v -0.00239842 -0.01058803 0.12355810
+v -0.00793456 -0.00200853 0.14031352
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_34.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bc17c0cb0f0b4f07d00b3f69f36fe46bc10ce64
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_34.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.00168040 -0.05304045 0.16794462
+v -0.00146656 -0.05304045 0.16794462
+v -0.00168040 -0.05304045 0.16870111
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_35.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..099b54563b176887c2ab8028f197eb3ccc0e9fd8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_35.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.03773409 0.02280789 0.15617017
+v -0.03773409 0.02280789 0.15494659
+v -0.03947261 0.02280789 0.15617017
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_36.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c426e5ad5e42622f064fd8bc9fb7bbf877e3ef2a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_36.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_37.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ce69839ba0dbc337789b2613436bdead4969681
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_37.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_38.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66c618f4adb192fc9360d95a11e3205b04da5673
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_38.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00721176 0.00692318 0.10603721
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_39.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26f76baab252d61e30f9c9e8a766ea5b3ea483e9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_39.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_4.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82a78cd2ae6388fbbc0e3e43e8e4bd49193f888c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_4.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_40.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..516d274ba73922cddca96f8fc82f9f0d45a36f7d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_40.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.01406963 0.04117851 0.06648898
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_41.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88eabd5247bb0c99dca012de987de075c6056064
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_41.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00741371 0.02560884 0.12874470
+v 0.00741371 0.02917472 0.12874472
+v 0.00765432 0.02571856 0.12874470
+v 0.00741371 0.02590542 0.13122148
+v 0.00832519 0.02868099 0.12874472
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_42.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fb8bd3d769d6c16e2ba21d3d1ef698e966f0323
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_42.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+v 0.03222949 0.01103011 0.10431518
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_43.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3a837bc1f1b368f5442c1d9a40096dca713f316
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_43.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+v -0.01116265 0.00534957 0.13626810
+v -0.01071406 0.01803250 0.13692626
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+v 0.01283278 -0.03609480 0.11783012
+v 0.00890061 0.01024495 0.12874508
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_44.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfd65c410101e7af22d916e0de303cac94ad9337
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_44.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.03087598 -0.07047033 0.12583833
+v -0.03087598 -0.07047034 0.12704976
+v -0.03087598 -0.06886017 0.12583834
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+v -0.02833711 -0.07072422 0.12741084
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+v -0.01854379 -0.08661868 0.11845537
+v -0.01846981 -0.07305591 0.11782834
+v -0.01970809 -0.07832735 0.11782832
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+v -0.00230986 -0.02714963 0.11782851
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_45.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a99538133c3758a20a94ba5a569d64482d69ff9f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_45.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00011328 -0.00356536 0.11782804
+v -0.00535007 -0.00657086 0.11277603
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_46.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e845e2d6cb13c40da8255368dde0fe33982c5dcc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_46.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.03194936 -0.01723043 0.15014842
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_47.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c662f54eceac2507ffe2e2cde8cbd8551b6cbab7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_47.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.05681509 0.01368035 0.12991456
+v 0.05673930 0.01368035 0.13107843
+v 0.06271619 0.01043377 0.12874223
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_48.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a8fa8d6e617f8254bf594fdb870b7a34e8f0735
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_48.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+v -0.00580709 0.06012526 0.07587676
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_49.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eee020e3d78aed29be7cc7095fbe61d876c0835a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_49.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00066916 0.03949019 0.15354894
+v -0.00253991 0.03949017 0.15861707
+v -0.00998059 0.05079850 0.17192097
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diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_5.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8687914ce311481a0cb3d8361755945023ea4236
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_5.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_50.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c54582662a5c535ba6a3a6c825c851dee512365
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_50.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_51.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e38ee706ba87cb0a82ee68699c2c57e3049e1c0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_51.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_52.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dba800830f2844e66d73721231c992ec9aa5383
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_52.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_53.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d66662bc48fcc0b5676ea31306215df1bdca87db
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_53.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.03616684 0.00388668 0.12874515
+v -0.03586043 -0.00243883 0.13936923
+v -0.03246145 -0.00212431 0.13970563
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+v -0.05741935 -0.01081483 0.11782857
+v -0.05792884 -0.01088276 0.11782857
+v -0.05933617 -0.01106644 0.11810780
+v -0.03923803 0.00287018 0.12874515
+v -0.03246145 -0.00489202 0.13988811
+v -0.04788867 -0.00621044 0.13542476
+v -0.04479254 -0.00906621 0.13708476
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+v -0.03762049 -0.00906622 0.13890968
+v -0.02806131 -0.00465048 0.14029047
+v -0.02389275 -0.01275729 0.12874289
+v -0.02389275 -0.02009673 0.12355834
+v -0.02854942 -0.02136733 0.11782853
+v -0.05905115 -0.01134824 0.11782857
+v -0.05962120 -0.01184391 0.11782857
+v -0.05975659 -0.01048022 0.12547784
+v -0.05975659 -0.01048023 0.12716643
+v -0.05208930 -0.00648719 0.13174853
+v -0.03547208 -0.01147413 0.13913614
+v -0.02834991 -0.01752030 0.13946592
+v -0.05538852 -0.01023114 0.13095699
+v -0.05030430 -0.00906620 0.13435398
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+v -0.02854942 -0.02181774 0.12355833
+v -0.03320609 -0.02181772 0.11782853
+v -0.06029102 -0.01612379 0.11782855
+v -0.04769272 -0.01974950 0.12268986
+v -0.04198144 -0.02147051 0.12355833
+v -0.04099096 -0.02181774 0.12345060
+v -0.03655519 -0.02181773 0.11899604
+v -0.05576618 -0.01723591 0.11782855
+v -0.04094464 -0.02181773 0.12076819
+f 1 2 3
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+f 39 41 40
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+f 49 59 58
+f 50 52 51
+f 52 58 59
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+f 57 63 60
+f 61 63 62
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_54.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc81096325718e27650d7f6f7d40e3d193a56d55
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_54.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.01350080 0.03948552 0.15596372
+v 0.01350080 0.03809614 0.15487012
+v 0.01350080 0.03948553 0.15354894
+v 0.00225248 0.03948549 0.16387925
+v -0.00989086 0.02257314 0.16791795
+v -0.00065927 0.01571237 0.15634745
+v 0.01350080 0.03743286 0.15431078
+v 0.01350080 0.03700232 0.15354893
+v -0.00067099 0.03948553 0.15354894
+v 0.00176393 0.03948549 0.16417820
+v -0.01739105 0.02162825 0.17250835
+v -0.00367654 0.01571237 0.15648053
+v 0.00011459 0.01571238 0.15355078
+v -0.02011910 0.02085791 0.17309275
+v 0.00703243 0.03382094 0.15354891
+v -0.00254311 0.03948551 0.15861959
+v -0.00647103 0.03548727 0.15354892
+v -0.01018008 0.03509859 0.15911718
+v -0.00029970 0.03948549 0.16448873
+v -0.01800466 0.02650390 0.17214962
+v -0.02011910 0.02438607 0.17324513
+v -0.01751611 0.02438608 0.17242735
+v -0.00612709 0.01571237 0.15574761
+v -0.02011910 0.01994098 0.17006077
+v -0.00895676 0.01571238 0.15355078
+v -0.02423462 0.02106038 0.17325091
+v -0.00771390 0.03382094 0.15354891
+v -0.00298085 0.03948550 0.16005457
+v -0.00849166 0.03280159 0.15355084
+v -0.00940232 0.03419562 0.15635716
+v -0.01396340 0.03066977 0.15969385
+v -0.01459655 0.03128184 0.16178074
+v -0.01753566 0.03004371 0.16591981
+v -0.01018008 0.03509858 0.16054059
+v -0.00336778 0.03948549 0.16356872
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+v -0.02239377 0.02664354 0.17133762
+v -0.00213273 0.03948549 0.16443665
+v -0.01068817 0.02856127 0.15462127
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+f 49 55 50
+f 50 52 51
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_55.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fe5e30f6d2c26853a416f593d6df8026693cfbd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_55.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00064994 0.01093568 0.08278299
+v 0.00042009 0.01092890 0.08278299
+v -0.00338706 0.00781559 0.08638085
+v 0.00042845 0.00781559 0.08638085
+v 0.00375918 0.01076291 0.08278299
+v 0.00318246 0.01009216 0.07587658
+v 0.00089232 0.01008200 0.07587658
+v -0.00064558 0.00967548 0.07587658
+v -0.03521917 -0.00260491 0.07655863
+v -0.03521917 -0.00260492 0.07768446
+v -0.01634223 0.00222250 0.09118998
+v 0.00042845 0.00743617 0.08638085
+v 0.00655081 0.00781561 0.08278298
+v 0.00596992 0.00866592 0.08278298
+v 0.00581529 0.00882176 0.08278298
+v -0.01273986 0.00222250 0.09118998
+v 0.00619976 0.00781563 0.07587657
+v 0.00523857 0.00867272 0.07587657
+v -0.00102588 0.00952981 0.07587658
+v -0.03606752 -0.00489160 0.07607590
+v -0.02666876 -0.00224248 0.09118996
+v -0.02666876 -0.00220860 0.09109702
+v -0.03580842 -0.00505083 0.07901866
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+v -0.01273986 -0.01403165 0.09118992
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+v -0.00497094 -0.00879765 0.08638079
+v 0.00632514 0.00781563 0.07717780
+v -0.00251363 0.00781563 0.07587657
+v 0.00042845 -0.00083653 0.07587804
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+v -0.01637566 -0.01675192 0.07587798
+v -0.01918401 -0.01776822 0.07587797
+v -0.02012431 -0.01810022 0.07587797
+v -0.00138528 0.00912328 0.07587657
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+v -0.01583238 -0.01672147 0.08743313
+v -0.01588253 -0.01669776 0.09113444
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+f 49 53 50
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_56.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df349008a3485ed91009b932ab01b145114b87bf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_56.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.00141711 -0.00614872 0.12355756
+v 0.00141711 -0.00237692 0.11782860
+v 0.00288518 -0.01837728 0.12355751
+v 0.00141711 0.02923847 0.12355769
+v 0.00890476 -0.00661482 0.11782859
+v 0.00553326 -0.01837728 0.12195167
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+v 0.00890476 -0.01837728 0.12355751
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+v 0.00794242 -0.01837728 0.12194494
+v 0.00561462 -0.01837728 0.12194550
+v 0.00890476 0.00758762 0.11782864
+v 0.00263891 0.02700777 0.11782871
+v 0.00890476 0.00920000 0.12355761
+v 0.00890476 0.00920476 0.12348525
+v 0.00890476 0.00831058 0.11925556
+f 1 2 3
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+f 5 17 9
+f 5 9 11
+f 8 10 16
+f 10 18 19
+f 10 19 15
+f 10 15 16
+f 10 17 18
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_57.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25ef76c7e50569017b361e697195c06354c6509d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_57.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.04185029 -0.00403607 0.12874111
+v -0.04026291 -0.00403606 0.12477583
+v -0.03347579 -0.00403607 0.12874111
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+v -0.03542728 0.00349158 0.11782913
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diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_58.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c709860d116f11037c64b95f4aab4b422eb945a5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_58.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_59.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8114abc6ef121989442becb4c4c8472930c9e8a9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_59.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_6.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4871fe0909664e7c963130adf68f4a234d2ea96a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_6.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_60.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e934d6b258045df552cd26acfb04f8479643847f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_60.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_61.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4724ed48d10eb976c34ef2b5cfe349d8d537aae8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_61.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.01516111 -0.06177470 0.12874196
+v -0.00790119 -0.05821055 0.12874198
+v -0.00801972 -0.05824228 0.14107248
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+v -0.01115087 -0.05803901 0.14521125
+v -0.01516111 -0.05891283 0.13029925
+v -0.01516111 -0.04219300 0.12874204
+v -0.00355512 -0.05577109 0.12874199
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+v -0.00148678 -0.05310197 0.13934176
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+v -0.00965740 -0.05746875 0.14739108
+v -0.01043574 -0.05746875 0.14739108
+v -0.01143534 -0.05528537 0.14540113
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+v -0.01516111 -0.04183659 0.12939745
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+v -0.01365579 -0.04080694 0.12874204
+v -0.00282616 -0.05498433 0.12874199
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_62.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..465ae4929922ed146c006260b19428e825ccb0ba
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_62.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.00972306 0.00305454 0.02495502
+v -0.01595869 0.00305454 0.02407525
+v -0.00972306 0.00305454 0.02333430
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_63.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8456f0ba13377cf14afe04373df54afc8bdd94bf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_63.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.00890476 -0.02111647 0.12115904
+v 0.02234865 -0.01992217 0.11782798
+v 0.00891892 -0.02111647 0.12115691
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+v 0.03248585 -0.01203995 0.12874214
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+v 0.03301690 0.01223742 0.12426696
+v 0.03301690 -0.00037898 0.12751787
+v 0.03301690 -0.00431056 0.12874003
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+v 0.03301690 -0.00138218 0.12874217
+v 0.02873780 0.02019614 0.11782812
+v 0.03301690 0.01886807 0.12559173
+v 0.03301690 0.02351143 0.12874227
+v 0.03301690 0.02343022 0.12862048
+v 0.03301690 0.02125662 0.12698805
+v 0.03301690 0.02000502 0.12614406
+f 1 2 3
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+f 1 14 23
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+f 1 4 12
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_64.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73c7b453feaf7205237dd72c869fcbf87af4b450
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_64.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00642386 0.06005334 0.11434479
+v 0.00642386 0.06005334 0.11352447
+v 0.00150241 0.05643346 0.10794288
+v 0.00164754 0.05643547 0.11094233
+v 0.00587497 0.05783424 0.11463758
+v 0.00865632 0.06003722 0.11432208
+v 0.00454764 0.05769317 0.10794288
+v 0.00188768 0.05608882 0.10604309
+v 0.00865632 0.06003722 0.11364983
+v 0.00105908 0.05553455 0.10604308
+v -0.00252975 0.05249311 0.10604307
+v -0.00248225 0.05249512 0.10698371
+v 0.00109602 0.05365202 0.11121324
+v 0.00752953 0.05365201 0.11456437
+v 0.02333886 0.05536723 0.11422867
+v 0.02333886 0.05586103 0.11422868
+v 0.00888590 0.05814262 0.11456101
+v 0.00314377 0.05365202 0.11277480
+v 0.00381140 0.05365201 0.11328382
+v 0.00586706 0.05365201 0.11456437
+v 0.01073045 0.05994652 0.11418578
+v 0.00454764 0.05680433 0.10604309
+v 0.00612830 0.05672169 0.10604309
+v 0.01073045 0.05994652 0.11411005
+v 0.02371886 0.05618757 0.10947416
+v -0.00301530 0.05159619 0.10604307
+v -0.00303113 0.04946376 0.10604306
+v -0.00255086 0.04947384 0.10689620
+v 0.00156310 0.04947382 0.11065539
+v -0.00049256 0.04947383 0.10896678
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+v 0.01983184 0.04648680 0.11057629
+v 0.02354206 0.05072143 0.11096418
+v 0.02376900 0.05425668 0.11277564
+v 0.02392469 0.05384349 0.11223885
+v 0.02363178 0.05606663 0.11277565
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+v 0.02377164 0.05616136 0.11208069
+v 0.00724718 0.05647782 0.10604309
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+v 0.02067891 0.05313203 0.10604308
+v -0.00289655 0.04821413 0.10604306
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+v -0.00105728 0.04416090 0.10604304
+v 0.00043895 0.04536617 0.10792097
+v 0.01502914 0.03946269 0.10604302
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+v 0.02133334 0.04931260 0.10604306
+v 0.00084005 0.04143791 0.10604303
+v 0.01929879 0.04513037 0.10604305
+v 0.01981600 0.04608976 0.10604305
+f 1 2 3
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+f 47 54 51
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_65.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..723cc19bd2dda2d7334e2402f798806f1691006f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_65.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00316820 0.03942388 0.11450800
+v 0.00345287 0.03692835 0.11509845
+v 0.00332823 0.03721825 0.11277619
+v 0.00307125 0.03940089 0.11277619
+v 0.00201411 0.03942388 0.11450800
+v -0.00353475 0.03340667 0.11782817
+v -0.00082957 0.03270878 0.11782817
+v 0.00030759 0.03230538 0.11782817
+v 0.00107699 0.03138355 0.11782817
+v 0.00263731 0.02701214 0.11782815
+v 0.00264039 0.02672072 0.11782815
+v 0.00264039 0.02549059 0.11782814
+v 0.00309279 0.03373338 0.11334042
+v 0.00317435 0.03525035 0.11277618
+v 0.00208797 0.03940089 0.11277619
+v -0.01226736 0.03109979 0.11782816
+v -0.00519664 0.03301401 0.11782817
+v 0.00233263 0.02375430 0.11782814
+v 0.00193871 0.02436938 0.11277614
+v -0.01226736 0.02927609 0.11277616
+v -0.01226736 0.03053536 0.11451093
+v -0.01226736 0.03098782 0.11616411
+v -0.01226736 0.02375430 0.11782814
+v 0.00166480 0.02375432 0.11277614
+v -0.01226736 0.02375432 0.11277614
+f 1 2 3
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_66.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85138964ac884033ca26432facc77c91cfb3708e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_66.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01570162 0.00781686 0.07587554
+v 0.01570162 0.00781686 0.08135785
+v 0.01570162 0.01741722 0.07587554
+v 0.01570162 0.01741722 0.08135785
+v 0.01670162 0.00781686 0.07587554
+v 0.01670162 0.00781686 0.08135785
+v 0.01670162 0.01741722 0.07587554
+v 0.01670162 0.01741722 0.08135785
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_67.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d1e9f77709495d6c663e9a1c0cfc38273dd1ce5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_67.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.01800006 -0.03407216 0.16605796
+v 0.01800006 -0.03406745 0.16603955
+v 0.01800231 -0.03529500 0.17006165
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+v 0.01800231 -0.03406748 0.17317490
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+v 0.01800006 -0.01934636 0.16605802
+v 0.01800006 -0.02970755 0.16355026
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+v 0.02365527 -0.03997474 0.17390066
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+v 0.01800231 -0.02928901 0.17390070
+v 0.01800006 -0.01894188 0.16591828
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+v 0.01800006 -0.02576155 0.16302383
+v 0.02644800 -0.05506264 0.16340069
+v 0.02782973 -0.05780932 0.16352958
+v 0.02674054 -0.05780933 0.16513062
+v 0.02839232 -0.05428663 0.16840746
+v 0.02584939 -0.04245333 0.17390065
+v 0.01901498 -0.02623661 0.17390071
+v 0.01802931 -0.01890426 0.16592153
+v 0.01863016 -0.01916763 0.16347340
+v 0.01800006 -0.02122764 0.16314516
+v 0.01800231 -0.02032464 0.16976923
+v 0.01800231 -0.01911591 0.16848558
+v 0.01800231 -0.01909239 0.16841409
+v 0.01800231 -0.01894659 0.16605911
+v 0.02449691 -0.01358024 0.17390076
+v 0.01916801 -0.02577095 0.16283534
+v 0.01800006 -0.02160860 0.16301734
+v 0.01833762 -0.02158038 0.16283535
+v 0.02815604 -0.05506264 0.16340069
+v 0.02510452 -0.03023431 0.16283532
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+v 0.03987828 -0.03212035 0.17390069
+v 0.02782973 -0.05780933 0.16513062
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+v 0.03788894 -0.03440611 0.17390068
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+v 0.02921597 -0.00976592 0.17390077
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+v 0.03189842 -0.01403641 0.16283538
+v 0.04098772 -0.02497145 0.17390072
+v 0.03177465 -0.01085236 0.17142013
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+v 0.02921597 -0.01370248 0.16283538
+v 0.02949276 -0.00979414 0.17390077
+v 0.02921597 -0.01072066 0.17088176
+v 0.04074242 -0.02254458 0.17390073
+v 0.03468665 -0.01242324 0.17390076
+v 0.03635193 -0.01436567 0.17390076
+v 0.03821074 -0.01733811 0.17390075
+v 0.04040937 -0.02174033 0.17390073
+f 1 2 3
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+f 1 8 17
+f 1 17 28
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+f 62 69 70
+f 62 70 66
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_68.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e0d2ddb91178f1792265e2ad5cab2ae0d65d2d3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_68.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.04790003 -0.00835907 0.10098726
+v -0.04790003 -0.00835908 0.10259025
+v -0.04790003 -0.00621077 0.10098727
+v -0.04454999 -0.00478617 0.10056410
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+v 0.00325330 0.03491459 0.10604265
+v 0.00045992 -0.00049529 0.10604252
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_69.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33cca79602e5581f7dc09a511e9b242bde34205e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_69.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.00665530 0.04093826 0.09561961
+v -0.00647447 0.04221356 0.09867923
+v -0.00639502 0.04516745 0.09989731
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+v -0.00609090 0.04647299 0.10236039
+v -0.00060583 0.03528751 0.10377855
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+v -0.00190449 0.05360575 0.08638309
+v -0.00234012 0.05208848 0.08638308
+v -0.00353467 0.03528757 0.08638302
+v -0.00474018 0.03528756 0.08915976
+v -0.00480593 0.03528756 0.09114755
+v -0.00379221 0.03528754 0.09575813
+v 0.00087914 0.03528750 0.10603766
+v -0.00289630 0.04821205 0.10603771
+v -0.00303055 0.04946216 0.10603771
+v 0.00377237 0.02950074 0.09551950
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+v -0.00301411 0.05159945 0.10603772
+v -0.00252916 0.05249167 0.10603772
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+v 0.01052323 0.07688400 0.09691093
+v 0.01104105 0.07630433 0.09415151
+v 0.01473703 0.08089144 0.09339528
+v 0.01051775 0.06867261 0.08919260
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+v 0.00377237 0.03078617 0.08638300
+v 0.00377237 0.02994940 0.08728742
+v 0.00377237 0.02939489 0.09137844
+v 0.00377237 0.03114401 0.09995113
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+v 0.00325729 0.03528750 0.10603766
+v 0.01653434 0.04229922 0.10604154
+v 0.01653434 0.05317721 0.10604158
+v 0.01483293 0.03901768 0.10587988
+v 0.00105723 0.05553126 0.10603773
+v 0.01052323 0.07688400 0.09775569
+v 0.01473703 0.08089143 0.09448058
+v 0.01490142 0.08089144 0.09339528
+v 0.01100269 0.06867261 0.08919260
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+v 0.00376963 0.05732584 0.08638310
+v 0.00696697 0.03799951 0.08638303
+v 0.01497266 0.04292935 0.09739573
+v 0.01550144 0.04202200 0.09965676
+v 0.01430415 0.03993512 0.09965676
+v 0.01474799 0.03911346 0.10289339
+v 0.01483293 0.03901768 0.10565667
+v 0.01502745 0.03947135 0.10603575
+v 0.01929606 0.04513718 0.10604155
+v 0.01686586 0.05337380 0.10604158
+v 0.00188739 0.05609078 0.10603774
+v 0.01276438 0.07781655 0.09796930
+v 0.01529595 0.07796777 0.09792504
+v 0.01490142 0.08089143 0.09448058
+v 0.01547130 0.07911204 0.09572366
+v 0.01643845 0.07455014 0.09551966
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+v 0.00896154 0.05477017 0.08638309
+v 0.00822454 0.05757788 0.08638310
+v 0.01554527 0.07455015 0.09257166
+v 0.00810399 0.04111975 0.08638304
+v 0.01900016 0.04724928 0.10164264
+v 0.01947688 0.04639738 0.10379591
+v 0.01835083 0.04431050 0.10379590
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+v 0.00900264 0.04616053 0.08638306
+v 0.00832865 0.04198172 0.08638304
+v 0.00889579 0.04533384 0.08638306
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_7.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..196cc07dea8ac5b1fa298ae099b3b23ac51df846
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_7.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.02293244 -0.03377036 0.07587539
+v 0.02293424 -0.03824850 0.07080578
+v 0.02293244 -0.03377035 0.07331874
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+v 0.02293244 -0.03447285 0.07200366
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+v 0.02054204 -0.03377035 0.07339622
+v 0.00839644 -0.05088217 0.07066668
+v 0.00769977 -0.04673361 0.07587534
+v 0.00479908 -0.03377036 0.07524964
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+v 0.01923194 -0.06089944 0.05572208
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_70.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d53012e41128cd2c1a30b33041354fc012185a2c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_70.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.00043240 -0.00103290 0.07894976
+v 0.00043240 -0.00088228 0.08638083
+v 0.00043240 -0.00083588 0.07587654
+v 0.00961674 -0.00791453 0.07587651
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+v 0.01653730 0.00781687 0.07587657
+v 0.01653730 0.00781686 0.07929538
+v 0.00694152 0.00781683 0.08638189
+f 1 2 8
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+f 1 9 3
+f 1 3 4
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+f 6 15 12
+f 6 12 8
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+f 9 15 14
+f 9 14 13
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_71.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b111a9dfa2a42170ddb77d26638113cfe7f0049
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_71.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.02082714 0.02374399 0.11782699
+v 0.02515432 0.02358910 0.11782699
+v 0.02356677 0.02248836 0.10604212
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+v 0.06031198 0.00172284 0.10604205
+v 0.01684724 0.01806310 0.10604211
+v 0.01178141 0.00331593 0.10604205
+v 0.00400902 -0.00088808 0.11277493
+v 0.01589912 0.01601089 0.10604210
+v 0.00400902 -0.00212717 0.11782689
+v 0.02926101 0.01614914 0.11782696
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+v 0.00400902 -0.00178975 0.11576987
+v 0.01858362 -0.01597266 0.10604198
+v 0.00983004 -0.00786894 0.11782687
+v 0.00400902 -0.00193910 0.11642055
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diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_72.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..548b6f5725f448dda6c8eb6864138decf9f560e7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_72.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_73.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b36b265e236131b9956c25833346165e2c27c50c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_73.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_74.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6a0035402f12b2cdebd0d8d59a8591553c08773
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_74.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+f 36 54 37
+f 37 54 42
+f 40 55 41
+f 41 55 45
+f 43 56 44
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+f 46 58 50
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+f 52 59 60
+f 52 60 53
+f 53 60 54
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_75.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4786ee7fe2189deb087d4c73c178f011ba6e126d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_75.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.02782308 -0.02708974 0.09585827
+v -0.02782308 -0.02700951 0.09605640
+v -0.02782308 -0.02673871 0.09190194
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+v -0.01637660 -0.01664431 0.10056406
+v -0.02782308 -0.02501871 0.09837076
+v -0.02569535 -0.02439189 0.09798275
+v -0.02782308 -0.02664343 0.09139743
+v -0.01637660 -0.01696020 0.09119383
+v -0.02014690 -0.01857996 0.10056405
+v -0.01637660 0.01547933 0.10056418
+v -0.02782308 -0.02470781 0.09848726
+v -0.02782308 -0.02653813 0.09132680
+v -0.02782308 -0.02633252 0.09119379
+v -0.01637660 0.01645721 0.09119395
+v -0.02513737 -0.01817879 0.10056405
+v -0.01637660 0.01562976 0.09973127
+v -0.02782308 0.02413957 0.09980194
+v -0.02601468 0.02256498 0.10056420
+v -0.02782308 -0.02105216 0.09959537
+v -0.02782308 -0.00210188 0.09119388
+v -0.01993514 0.01606106 0.09119395
+v -0.02782308 0.02303636 0.09668677
+v -0.02782308 0.02341246 0.09695463
+v -0.02782308 0.02399415 0.09906076
+v -0.01637660 0.01645720 0.09121046
+v -0.02723148 -0.01627825 0.10056406
+v -0.01637660 0.01563979 0.09967073
+v -0.02782308 0.02372336 0.10056421
+v -0.01637660 0.01642711 0.09174249
+v -0.02782308 -0.01388627 0.10056407
+v -0.02782308 0.01974678 0.09463475
+v -0.02657154 0.01068539 0.09119393
+v -0.02011329 0.01603097 0.09119395
+v -0.02353401 0.01502805 0.09119395
+v -0.02369199 0.01494280 0.09119394
+v -0.02575137 0.01273135 0.09119394
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+f 32 37 33
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_76.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23e45266274121e88063b2c2ef00e57b62062ef7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_76.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.02541377 -0.02650692 0.13932071
+v -0.02541377 -0.02689403 0.13928362
+v -0.02541377 -0.02650688 0.12874320
+v -0.02839541 -0.02650692 0.13995357
+v -0.02541377 -0.02730466 0.13924315
+v -0.02541377 -0.03365573 0.12874318
+v -0.04030665 -0.02650688 0.12874320
+v -0.02904836 -0.02650692 0.14004012
+v -0.03016042 -0.03227376 0.13912623
+v -0.02592134 -0.02824891 0.13920381
+v -0.02541377 -0.02795044 0.13906218
+v -0.02834950 -0.03834084 0.12964130
+v -0.02834950 -0.03455838 0.12874317
+v -0.02541377 -0.03914038 0.13049896
+v -0.02834950 -0.04141238 0.13041914
+v -0.04334185 -0.03131137 0.12874318
+v -0.05123337 -0.03993269 0.13035844
+v -0.04691012 -0.03196984 0.13470188
+v -0.04317606 -0.02736614 0.13430511
+v -0.04154624 -0.02650690 0.13348453
+v -0.03246105 -0.02650693 0.14022559
+v -0.03246105 -0.02997824 0.13981530
+v -0.03657259 -0.03281100 0.13929260
+v -0.03010175 -0.04482764 0.13501321
+v -0.02857905 -0.04245977 0.13548420
+v -0.02567138 -0.04102530 0.13525153
+v -0.02541377 -0.04052422 0.13534258
+v -0.02541377 -0.03939365 0.13567981
+v -0.04890213 -0.04252125 0.12942883
+v -0.04080402 -0.03632388 0.12874317
+v -0.02541377 -0.04049889 0.13278981
+v -0.02626822 -0.04045727 0.13070241
+v -0.02857905 -0.04324664 0.13252901
+v -0.03010175 -0.04482763 0.13373627
+v -0.04890213 -0.04490903 0.13025727
+v -0.04460439 -0.03399581 0.12874318
+v -0.05147057 -0.04252125 0.13000885
+v -0.05123337 -0.03993269 0.13122173
+v -0.04691012 -0.03196985 0.13494356
+v -0.04317606 -0.02736615 0.13557643
+v -0.04169927 -0.02650691 0.13640713
+v -0.03325428 -0.02650692 0.14018737
+v -0.03927111 -0.03280196 0.13933418
+v -0.03246105 -0.04487287 0.13502108
+v -0.02580657 -0.04089685 0.13278981
+v -0.02541377 -0.04073044 0.13492330
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+v -0.03246105 -0.04487286 0.13352831
+v -0.05147057 -0.04252125 0.13142630
+v -0.04726720 -0.03416045 0.13520659
+v -0.04464520 -0.03033639 0.13592152
+v -0.04104377 -0.02650691 0.13698939
+v -0.04065608 -0.02975031 0.13827869
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+v -0.03687866 -0.02650692 0.13951068
+v -0.03927111 -0.03099123 0.13933419
+v -0.04479313 -0.03416045 0.13670722
+v -0.04745085 -0.03834086 0.13525266
+v -0.04479313 -0.03834086 0.13634076
+v -0.04479313 -0.04099997 0.13528300
+v -0.03458824 -0.04474624 0.13492216
+v -0.05136345 -0.04498681 0.13115876
+v -0.03885027 -0.02650692 0.13850576
+v -0.03814120 -0.02650692 0.13899136
+v -0.04715498 -0.04071416 0.13500648
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+f 1 11 28
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+f 1 27 46
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+f 1 14 6
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+f 1 8 4
+f 1 4 2
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+f 33 45 34
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+f 62 66 63
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_77.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d18c612a847cb2f33d44a26c523f4b7a9e157f7b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_77.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.01273554 -0.02579570 0.10130083
+v -0.01273554 -0.02924863 0.10127905
+v -0.01273554 0.01531667 0.10056393
+v -0.01637660 0.01547803 0.10056393
+v -0.01637660 -0.01664384 0.10056381
+v -0.01273554 -0.02997148 0.10125629
+v -0.01273554 0.01549739 0.09965770
+v -0.01637660 0.01563938 0.09967056
+v -0.01637660 -0.01696005 0.09119383
+v -0.01437145 -0.04670039 0.09426956
+v -0.01473713 -0.03833594 0.09836345
+v -0.01306022 -0.02997148 0.10106634
+v -0.01273554 -0.03115257 0.10103963
+v -0.01273554 0.01685277 0.09203785
+v -0.01273554 0.01696896 0.09119395
+v -0.01637660 0.01642680 0.09174303
+v -0.01637660 0.01645908 0.09119395
+v -0.01589260 -0.01669543 0.09119383
+v -0.01273554 -0.04251815 0.09229485
+v -0.01273554 -0.04670038 0.09257582
+v -0.01437145 -0.04670038 0.09287163
+v -0.01408882 -0.04896575 0.09363143
+v -0.01431656 -0.04124672 0.09790835
+v -0.01273554 -0.03556070 0.10017592
+v -0.01273554 -0.01404281 0.09119384
+v -0.01297184 -0.01424289 0.09119384
+v -0.01273554 -0.04895930 0.09316446
+v -0.01408882 -0.04896575 0.09315259
+v -0.01273554 -0.04895930 0.09363340
+v -0.01273554 -0.04744906 0.09493241
+v -0.01273554 -0.04479645 0.09670036
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+v -0.01273554 -0.04209865 0.09815172
+v -0.01273554 -0.03934277 0.09916382
+v -0.01273554 -0.04357663 0.09748985
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+f 1 6 13
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+f 1 33 35
+f 1 35 31
+f 1 31 30
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+f 1 29 27
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+f 31 35 32
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_78.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a9705fb32fbf65b3072a638420a4057b41752fe
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_78.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.00054744 -0.01480114 0.08797807
+v -0.00293948 -0.00458840 0.09167273
+v -0.00263645 -0.00458841 0.09524805
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+v -0.00210078 -0.01480114 0.08792034
+v -0.01273554 -0.01348956 0.08638284
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+v -0.00496885 -0.00880405 0.08638286
+v -0.00464673 -0.00792832 0.08638286
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+v -0.00379609 -0.01480114 0.08797615
+v -0.01273554 -0.00458838 0.08638287
+v -0.00497600 -0.01480114 0.08839757
+v -0.01273554 -0.01433230 0.09040460
+v -0.01273554 -0.00458845 0.10603944
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+v -0.00191824 -0.01480118 0.09801129
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+v -0.01203642 -0.01480119 0.09963346
+v -0.01201733 -0.01480119 0.09984898
+v -0.01273554 -0.01411742 0.10448459
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+f 25 29 26
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+f 26 30 31
+f 27 31 28
+f 28 31 30
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_79.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0e378e1e5ba46cab770b40c6ea6b49188055841
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_79.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.00741014 0.03766553 0.14031367
+v 0.00741014 0.03004992 0.14031364
+v 0.00860484 0.02850358 0.12874314
+v 0.00741014 0.03653834 0.13835189
+v -0.00080100 0.03118923 0.12355825
+v -0.00368004 0.03206972 0.12355826
+v -0.00646360 0.03175483 0.12355826
+v -0.01575928 0.03351375 0.14031365
+v 0.00741014 0.02596838 0.13137742
+v -0.00820669 0.02159392 0.14031361
+v -0.00126860 0.01803383 0.13919001
+v 0.00022968 0.01803384 0.13690183
+v 0.00741014 0.03321493 0.13290454
+v 0.00741014 0.03490372 0.13558967
+v 0.00811031 0.02698929 0.12874314
+v 0.00705516 0.02594233 0.12614167
+v 0.00705516 0.02720390 0.12614167
+v 0.00741014 0.03120123 0.12987002
+v 0.00078296 0.03004999 0.12355825
+v -0.00743797 0.03152217 0.12355826
+v -0.01575928 0.03201552 0.13660007
+v -0.01640559 0.02426958 0.12470970
+v -0.01640559 0.02433577 0.12488521
+v -0.01640559 0.02515809 0.12855778
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+v -0.01575928 0.02460447 0.14031362
+v 0.00741014 0.02590821 0.13122159
+v -0.01104656 0.02150166 0.14031361
+v -0.00872815 0.01803383 0.13954923
+v -0.00295049 0.01717544 0.12874310
+v 0.00765495 0.02570765 0.12864800
+v 0.00765006 0.02571768 0.12874313
+v -0.00286970 0.01717544 0.12709791
+v 0.00014154 0.01803385 0.13277982
+v 0.00298141 0.02265902 0.12355822
+v 0.00372810 0.02421543 0.12355823
+v 0.00389213 0.02755692 0.12355824
+v -0.00936223 0.03010816 0.12355825
+v -0.01612405 0.02412518 0.12355823
+v -0.01640559 0.02359567 0.12355823
+v -0.01640559 0.02116075 0.12874312
+v -0.01640559 0.02049285 0.12864471
+v -0.01640559 0.02023010 0.12844622
+v -0.01640559 0.01809003 0.12668785
+v -0.01640559 0.01717545 0.12577093
+v -0.01035373 0.01803383 0.13954923
+v -0.01004282 0.01717544 0.12874310
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+v -0.01640559 0.01717546 0.12355820
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+f 17 37 18
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+f 22 49 45
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+f 22 44 43
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+f 22 41 25
+f 22 25 24
+f 22 24 23
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+f 30 45 49
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+f 33 48 34
+f 34 48 35
+f 45 47 46
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_8.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a637696e6355ea9ef166d0c996334c7f034c3afb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_8.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.01654105 -0.00269369 0.07586818
+v 0.02170186 -0.00269369 0.07586818
+v 0.01654105 -0.00269374 0.09068357
+v 0.01294267 0.00170760 0.04331483
+v 0.02173445 -0.00269374 0.09068357
+v 0.01871886 0.00170760 0.04331483
+v 0.02423625 0.00170756 0.05558003
+v 0.03222476 -0.00258319 0.10391217
+v 0.01294267 0.00170748 0.07586010
+v 0.01654105 -0.00258320 0.10604137
+v 0.01264169 0.01603725 0.02333435
+v 0.01296759 0.01183716 0.02333433
+v 0.01343536 0.00967804 0.02333433
+v 0.01370951 0.00856707 0.02333432
+v 0.01507064 0.00745861 0.02333432
+v 0.01576463 0.00715698 0.02333432
+v 0.03222476 -0.00258320 0.10604137
+v 0.02364003 0.00715698 0.02333432
+v 0.02532132 0.00781552 0.02333432
+v 0.03222476 0.00093071 0.10324832
+v 0.02844426 0.01193770 0.02333433
+v 0.01294267 0.00413806 0.07586011
+v 0.01654105 0.01740430 0.10604144
+v 0.01357915 0.01954361 0.02333436
+v 0.01654105 0.01977207 0.09916809
+v 0.03222476 0.01139448 0.10604142
+v 0.03222476 0.00528915 0.10276259
+v 0.02839250 0.01430543 0.02333434
+v 0.03222476 0.00910467 0.10338598
+v 0.03222476 0.00766191 0.10302976
+v 0.01684395 0.01806033 0.10604145
+v 0.01686887 0.02101653 0.02333437
+v 0.01849265 0.02261485 0.09844756
+v 0.01849265 0.02261485 0.09693364
+v 0.01768363 0.01977204 0.10604145
+v 0.02720007 0.02232580 0.09750035
+v 0.02720007 0.02232580 0.09767846
+v 0.02786722 0.01922409 0.10604145
+v 0.03222476 0.01102751 0.10430891
+v 0.02836182 0.01528068 0.02333435
+v 0.02099061 0.02077020 0.02333437
+v 0.02099445 0.02298435 0.09615644
+v 0.02510086 0.02276065 0.09658552
+v 0.02013176 0.02186328 0.10604146
+v 0.02218880 0.02248664 0.10604146
+v 0.02105580 0.02292401 0.09975909
+v 0.02771002 0.01616292 0.02333435
+v 0.02544593 0.01865382 0.02333436
+v 0.02457749 0.01954109 0.02333436
+v 0.02333138 0.01996839 0.02333436
+v 0.02488039 0.02274807 0.09929763
+v 0.02355952 0.02248664 0.10604146
+v 0.02467143 0.02185826 0.10604146
+v 0.02561080 0.02131282 0.10604146
+v 0.02666520 0.02035517 0.10604145
+f 1 2 5
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+f 1 3 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
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+f 2 7 8
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+f 3 5 17
+f 3 17 10
+f 3 10 9
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+f 4 12 13
+f 4 13 14
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+f 4 15 16
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+f 4 18 6
+f 4 9 11
+f 5 8 17
+f 6 18 19
+f 6 19 7
+f 7 19 8
+f 8 20 27
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+f 8 30 29
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+f 8 39 26
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+f 8 19 21
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+f 9 10 23
+f 9 23 22
+f 9 22 11
+f 10 17 26
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+f 10 35 31
+f 10 31 23
+f 11 24 32
+f 11 32 41
+f 11 41 50
+f 11 50 49
+f 11 49 48
+f 11 48 47
+f 11 47 40
+f 11 40 28
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+f 11 21 19
+f 11 19 18
+f 11 18 16
+f 11 16 15
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+f 11 14 13
+f 11 13 12
+f 11 22 25
+f 11 25 24
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+f 22 23 25
+f 23 31 25
+f 24 25 33
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+f 24 34 32
+f 25 31 35
+f 25 35 33
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+f 28 40 39
+f 28 39 29
+f 32 34 42
+f 32 42 43
+f 32 43 41
+f 33 42 34
+f 33 35 44
+f 33 44 45
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+f 33 46 42
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+f 36 49 50
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+f 37 51 52
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+f 37 53 54
+f 37 54 55
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+f 42 46 51
+f 42 51 43
+f 45 52 46
+f 46 52 51
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_80.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6475e8b2a6a46f9002189bdbb49fd604b2fe5a8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_80.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.04754306 0.00349800 0.12874219
+v 0.05240894 -0.00530318 0.12874216
+v 0.05614722 -0.01074374 0.12703151
+v 0.05614722 -0.01074373 0.12632879
+v 0.04565920 0.00349800 0.12807000
+v 0.03301788 0.00349800 0.12874219
+v 0.05316974 -0.00691739 0.12874215
+v 0.05401203 -0.00922228 0.12874215
+v 0.05614722 -0.01152716 0.12703151
+v 0.05614722 -0.01152715 0.12632879
+v 0.05389430 -0.01305256 0.12572880
+v 0.04977109 -0.01324989 0.12493973
+v 0.05359768 -0.00923608 0.12620263
+v 0.04784195 -0.00270821 0.12651976
+v 0.04154958 0.00349800 0.12714955
+v 0.03301788 0.00349800 0.12724818
+v 0.03301788 -0.00139198 0.12874217
+v 0.05355918 -0.01274867 0.12874213
+v 0.05367466 -0.01285523 0.12857725
+v 0.05253121 -0.01642899 0.12736200
+v 0.05253121 -0.01642898 0.12569790
+v 0.04565920 -0.00223460 0.12636753
+v 0.04977109 -0.01666183 0.12546341
+v 0.04547127 -0.01333672 0.12577607
+v 0.03939628 -0.00709893 0.12654431
+v 0.03740147 0.00349800 0.12710004
+v 0.04295569 -0.00213396 0.12635525
+v 0.03301788 -0.00038557 0.12751988
+v 0.03301788 -0.00431453 0.12874179
+v 0.03302241 -0.00431848 0.12874216
+v 0.05335540 -0.01299731 0.12874213
+v 0.04951523 -0.01640728 0.12874212
+v 0.04945636 -0.01644872 0.12874212
+v 0.04948579 -0.01646648 0.12870453
+v 0.04671888 -0.01601260 0.12597183
+v 0.04547127 -0.01590407 0.12872574
+v 0.04296248 -0.01200273 0.12625956
+v 0.03377187 -0.00526964 0.12874216
+v 0.04544863 -0.01589815 0.12874212
+v 0.04397913 -0.01478913 0.12739737
+v 0.03672220 -0.00895785 0.12874215
+v 0.04185526 -0.01351828 0.12874213
+v 0.04146128 -0.01324398 0.12874213
+f 1 2 3
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+f 1 15 26
+f 1 26 16
+f 1 16 6
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+f 1 30 38
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+f 20 23 21
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+f 35 39 40
+f 35 40 41
+f 35 41 37
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+f 40 42 43
+f 40 43 41
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_81.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaf8bb9da0ec518f1729085cd708106f3bf97810
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_81.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.03245393 0.04785557 0.11389646
+v -0.03460917 0.04764418 0.11405361
+v -0.03460917 0.04764418 0.11470184
+v -0.03237696 0.04784550 0.11613684
+v -0.02989330 0.04775993 0.11622161
+v -0.02997541 0.04773981 0.11391094
+v -0.01188681 0.02427501 0.10726622
+v -0.04067462 0.03274588 0.11187210
+v -0.04382024 0.03601746 0.11317168
+v -0.04382024 0.03601746 0.11491063
+v -0.03131986 0.04760893 0.11782615
+v -0.03008317 0.04758880 0.11782615
+v 0.00232749 0.02375151 0.11782711
+v 0.00165526 0.02375153 0.11277567
+v 0.00693046 0.00801268 0.11277561
+v 0.00400550 -0.00088100 0.11277558
+v -0.01188681 0.02033903 0.10757636
+v -0.04250657 0.03274588 0.11277363
+v -0.03048856 0.00445420 0.11277560
+v -0.03140710 0.00459512 0.11315812
+v -0.04360985 0.03274587 0.11332468
+v -0.04360985 0.03274587 0.11483205
+v -0.03543021 0.00349284 0.11782703
+v -0.04067462 0.03274586 0.11640868
+v -0.03226919 0.04538929 0.11782615
+v -0.03159697 0.04702005 0.11782615
+v -0.03274642 0.02375151 0.11782711
+v 0.00860333 0.00801266 0.11782705
+v 0.00400550 -0.00178197 0.11577066
+v -0.00281942 -0.00356371 0.11277557
+v -0.01794200 -0.00356371 0.11277557
+v -0.03353155 0.00111213 0.11782702
+v -0.03490679 0.00205837 0.11782703
+v -0.03514284 0.00347774 0.11743313
+v -0.03518903 0.00679462 0.11782704
+v -0.03615375 0.03206638 0.11782610
+v -0.03639493 0.02840723 0.11782608
+v 0.00400550 -0.00211919 0.11782701
+v 0.00400550 -0.00193296 0.11641992
+v -0.00046919 -0.00356373 0.11682003
+v -0.01951738 -0.00356373 0.11653882
+v -0.01958922 -0.00356373 0.11782701
+v 0.00010554 -0.00356373 0.11782701
+f 1 2 3
+f 1 3 4
+f 1 4 5
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+f 1 6 7
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+f 13 38 28
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+f 16 30 17
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+f 21 23 22
+f 23 35 36
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+f 30 39 40
+f 30 40 43
+f 30 43 42
+f 30 42 41
+f 30 41 31
+f 31 41 32
+f 32 41 42
+f 38 43 39
+f 39 43 40
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_82.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2eb177fc9167f14db7f75103abbc430dd1d4358
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_82.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.03475494 0.02556377 0.12596808
+v -0.02501673 0.02556378 0.12355823
+v -0.03475494 0.02556376 0.12874227
+v -0.03475494 0.03090335 0.12536982
+v -0.02849175 0.03260407 0.12355826
+v -0.02090457 0.02556378 0.12355823
+v -0.01671254 0.02556376 0.12874227
+v -0.03475494 0.04097701 0.12874233
+v -0.03475494 0.03535251 0.12581994
+v -0.03474252 0.05365371 0.12584285
+v -0.02789187 0.03692857 0.12355828
+v -0.01778273 0.02556377 0.12462741
+v -0.02019821 0.02799167 0.12355824
+v -0.01662558 0.02556376 0.12857279
+v -0.02733104 0.04936482 0.12874236
+v -0.03369895 0.04951619 0.12874236
+v -0.03474252 0.05365370 0.12714952
+v -0.03475494 0.04098295 0.12861090
+v -0.03475494 0.03615983 0.12603104
+v -0.03462716 0.05588274 0.12592963
+v -0.03223298 0.05403066 0.12559166
+v -0.02452334 0.03692857 0.12355828
+v -0.01731951 0.02556377 0.12580265
+v -0.02020531 0.02952023 0.12355825
+v -0.02094894 0.03237256 0.12355826
+v -0.02968795 0.05289091 0.12591388
+v -0.02938091 0.05288200 0.12864799
+v -0.02935251 0.05278702 0.12874237
+v -0.03213714 0.05356466 0.12874238
+v -0.03462716 0.05588273 0.12672480
+v -0.03345403 0.05588274 0.12592963
+v -0.02183810 0.03379130 0.12355826
+v -0.02939511 0.05284638 0.12874237
+v -0.03345403 0.05588273 0.12672480
+f 1 2 6
+f 1 6 12
+f 1 12 23
+f 1 23 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 19
+f 1 19 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
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+f 2 22 32
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+f 2 13 6
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+f 3 29 16
+f 3 16 8
+f 4 9 10
+f 4 10 5
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+f 8 17 18
+f 9 19 10
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+f 10 30 20
+f 10 20 11
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+f 10 18 17
+f 11 20 21
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+f 14 23 25
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+f 16 29 30
+f 16 30 17
+f 20 30 34
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+f 21 26 22
+f 22 26 32
+f 25 32 26
+f 26 31 27
+f 27 33 28
+f 27 31 34
+f 27 34 33
+f 29 33 34
+f 29 34 30
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_83.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1ace1e46d65d011307e8422b245794ef61a3bc5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_83.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.03302094 0.02351181 0.12874227
+v 0.03302094 0.02343540 0.12862138
+v 0.03302094 0.00349800 0.12874219
+v 0.06272010 0.01043573 0.12874222
+v 0.06434859 0.00996551 0.12771073
+v 0.06434859 0.00996552 0.12643133
+v 0.03302094 0.02126258 0.12698982
+v 0.04754544 0.00349800 0.12874219
+v 0.03302094 0.00349800 0.12724817
+v 0.06272010 0.00893102 0.12874221
+v 0.06434859 0.00947374 0.12771072
+v 0.06434859 0.00947375 0.12643132
+v 0.03302094 0.01224217 0.12426761
+v 0.03302094 0.01631155 0.12446692
+v 0.03302094 0.01887622 0.12559303
+v 0.03302094 0.02001063 0.12614579
+v 0.04566241 0.00349800 0.12806986
+v 0.05795732 0.00705013 0.12874221
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_84.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3bd445e42b38462c795171a3bb53fdf036fd646
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_84.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+v -0.02448196 -0.01881666 0.10333874
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_85.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70efd55675cbb7f4cd5b2943edae27bca823480a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_85.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.03608728 -0.00465188 0.09119295
+v -0.03608728 -0.02075948 0.09119289
+v -0.03608728 -0.00616866 0.08842479
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_86.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8220cea4bdaa429a1c16075e63307c801c43ec52
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_86.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.03214088 0.05356467 0.12874317
+v -0.03116370 0.05199459 0.13106104
+v -0.02975709 0.05199459 0.13106104
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_87.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..907d7dc98b42b90d9e4b6edcebc92b55b4a66220
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_87.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00046253 -0.00158325 0.11277274
+v 0.00047361 -0.00157952 0.11277604
+v 0.00046253 -0.00156835 0.11277604
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+v 0.01168852 -0.00777894 0.10604201
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+v 0.01072939 -0.00767278 0.11277602
+v 0.00340636 0.01065728 0.11277609
+v 0.00046253 0.01089759 0.11277016
+v 0.00385824 0.01045239 0.10604208
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+v 0.01177712 0.00441873 0.11277607
+v 0.00414509 0.01055669 0.11277609
+v 0.00614198 0.00925831 0.11277608
+v 0.00497131 0.00964766 0.10604208
+v 0.01177712 0.00331969 0.10604205
+v 0.00591383 0.00896028 0.10604207
+f 1 2 3
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+f 1 8 4
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+f 16 20 21
+f 16 21 18
+f 18 21 19
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_88.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dd7e1ca4581501de39d9eec9eaabb78e675fe01
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_88.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.02689992 -0.02108900 0.11782797
+v -0.02689992 -0.02029635 0.11782798
+v -0.02689992 -0.02097229 0.11775004
+v -0.02687191 -0.04252231 0.11710827
+v -0.02687191 -0.04252231 0.11782789
+v -0.01545577 -0.02029635 0.11782798
+v -0.02689992 -0.02029635 0.11754570
+v -0.02423466 -0.04252231 0.11626175
+v -0.02664337 -0.04513613 0.11734369
+v -0.02664337 -0.04513613 0.11782788
+v -0.01749701 -0.03146160 0.11782793
+v -0.01733680 -0.02997841 0.11771942
+v -0.01614253 -0.02029635 0.11737161
+v -0.02009057 -0.02029635 0.11616584
+v -0.01999982 -0.03798278 0.11718769
+v -0.02142152 -0.04252231 0.11744750
+v -0.02235587 -0.04444316 0.11782789
+v -0.02423466 -0.04510209 0.11741479
+v -0.01839103 -0.02029635 0.11634921
+v -0.02577735 -0.04512397 0.11782788
+v -0.01881115 -0.03699803 0.11782791
+v -0.01647191 -0.02029635 0.11715359
+v -0.02181251 -0.04387420 0.11782789
+v -0.02287010 -0.04487596 0.11782789
+v -0.02336753 -0.04495863 0.11782788
+v -0.02423466 -0.04510209 0.11782788
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+f 1 26 25
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+f 1 23 21
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+f 16 23 17
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+f 17 24 18
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+f 18 26 20
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_89.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b377852af48450dbd1846940d2d56b9faba1e01
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_89.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.05151858 -0.04151662 0.08030479
+v -0.04890212 -0.04174578 0.08016773
+v -0.05151858 -0.04151663 0.08189337
+v -0.05151858 -0.03950461 0.08030479
+v -0.04887537 -0.04173027 0.08320136
+v -0.04885349 -0.03819952 0.08019688
+v -0.04533488 -0.03833937 0.08052928
+v -0.04618839 -0.04109325 0.08060157
+v -0.04480721 -0.04126805 0.08317006
+v -0.04748933 -0.04084467 0.08556157
+v -0.04815803 -0.03833939 0.08636666
+v -0.04653855 -0.03504949 0.08913157
+v -0.04687168 -0.03226065 0.08932908
+v -0.05151858 -0.03950462 0.08189337
+v -0.03608485 -0.00465576 0.09119187
+v -0.03608485 -0.00617059 0.08842481
+v -0.03608485 -0.00880018 0.08633871
+v -0.03608485 -0.01087432 0.08500697
+v -0.02810658 -0.00248060 0.08500376
+v -0.04227099 -0.04074369 0.08580331
+v -0.04479019 -0.04098063 0.08594144
+v -0.02729197 -0.00246507 0.08500376
+v -0.02667676 -0.00245341 0.08500376
+v -0.02667676 -0.01374085 0.08500372
+v -0.04227099 -0.04074368 0.08460108
+v -0.04328256 -0.03833937 0.08163869
+v -0.03849462 -0.03644001 0.08502307
+v -0.04068068 -0.03748099 0.09039962
+v -0.04379807 -0.03703820 0.08990966
+v -0.04501633 -0.03385705 0.09044389
+v -0.04427224 -0.03278890 0.09119177
+v -0.04445948 -0.03027972 0.09119178
+v -0.04687168 -0.03198487 0.08932908
+v -0.04314881 -0.02075959 0.09040184
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+v -0.03180270 -0.00228641 0.09119188
+v -0.03166409 -0.00221650 0.09119188
+v -0.02667676 -0.00206501 0.09004038
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+v -0.04076579 -0.03625748 0.09119176
+v -0.04242418 -0.03563212 0.09119176
+v -0.04359381 -0.03393473 0.09119177
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+v -0.02667676 -0.00220096 0.09109799
+v -0.02667676 -0.00223980 0.09119188
+v -0.03006893 -0.03012435 0.09119178
+v -0.03102214 -0.03088177 0.09043095
+v -0.03081301 -0.03124299 0.09119178
+v -0.02692236 -0.00218543 0.09119188
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+f 39 46 47
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+f 41 43 42
+f 43 45 44
+f 43 56 55
+f 43 55 57
+f 43 57 45
+f 52 58 53
+f 53 58 54
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_9.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d26564439b193d71d3c08e400b6239820ec8d72
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_9.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.01653730 0.01740912 0.10603952
+v 0.01653730 0.01977861 0.09916983
+v 0.00721176 0.00691979 0.10603949
+v 0.01653730 -0.01067168 0.10603942
+v 0.01653730 0.01968185 0.09613524
+v 0.01476640 0.01822082 0.09745914
+v 0.01476640 0.01822082 0.09774201
+v 0.00721176 0.01011034 0.09473817
+v 0.00721176 -0.00139362 0.10603945
+v 0.01041399 -0.00725641 0.10603943
+v 0.01653730 -0.01196719 0.09137637
+v 0.00721176 0.01011347 0.09206534
+v 0.01653730 0.01601996 0.09180943
+v 0.00721176 0.00729136 0.08638292
+v 0.00721176 -0.00192742 0.09550976
+v 0.01031449 -0.00732814 0.08638286
+v 0.01653730 -0.01211390 0.08723531
+v 0.01653730 -0.01207957 0.08878628
+v 0.01653730 0.01183673 0.08712570
+v 0.01653730 0.00709468 0.08638292
+v 0.00721176 -0.00190865 0.08638288
+v 0.00721176 -0.00196799 0.09138217
+v 0.00891512 -0.00488687 0.08638287
+v 0.01653730 -0.01173303 0.08638285
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+f 1 4 11
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+f 1 18 17
+f 1 17 24
+f 1 24 20
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+f 1 5 2
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+f 14 16 23
+f 14 23 21
+f 15 22 16
+f 16 22 23
+f 16 24 17
+f 21 23 22
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_90.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cb1044ccf0ec90293ddc2421e8c17faa86cac8b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_90.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.01294104 0.00413512 0.07587234
+v 0.00318429 0.01009473 0.07587236
+v 0.01294104 0.00170556 0.07587233
+v 0.01294104 0.00416834 0.07480755
+v 0.00679818 0.00994680 0.05673156
+v 0.00089386 0.01008334 0.07587236
+v 0.00466934 0.01061562 0.05816617
+v 0.00043218 0.01139544 0.05824587
+v -0.01326164 0.00170556 0.07587233
+v 0.01294104 0.00170568 0.04331002
+v 0.01294104 0.00396733 0.04331002
+v 0.00679818 0.00994681 0.05553287
+v 0.00472834 0.01064125 0.05413334
+v -0.00063993 0.00967826 0.07587236
+v 0.00043218 0.01136035 0.05410464
+v -0.00243534 0.01046004 0.05824587
+v -0.01326164 0.00199396 0.07587233
+v -0.01326164 0.00170556 0.07551209
+v -0.01083271 0.00170568 0.04331002
+v 0.00292780 0.00996678 0.04331005
+v -0.00102210 0.00953216 0.07587236
+v -0.00246355 0.01039364 0.05410464
+v 0.00118625 0.00996678 0.04331005
+v -0.00006284 0.00973435 0.04331005
+v -0.00086820 0.00956643 0.04331005
+v -0.01326164 0.00172453 0.07553441
+v -0.01105073 0.00170567 0.04582217
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+f 18 26 27
+f 19 27 22
+f 19 22 25
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_91.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f523423407f9d5122230d04d6b63d5e5d849cc31
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_91.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.02541277 -0.02650692 0.13932149
+v -0.02498524 -0.02650692 0.13927489
+v -0.02541277 -0.02650688 0.12874311
+v -0.02541277 -0.02730525 0.13924278
+v -0.02313161 -0.02650692 0.13846507
+v -0.02012486 -0.04670395 0.13651502
+v -0.01516111 -0.04676265 0.13582843
+v -0.01516111 -0.04589387 0.13591024
+v -0.01516111 -0.04190612 0.13585434
+v -0.01516914 -0.02650688 0.12874311
+v -0.02541277 -0.03365666 0.12874309
+v -0.02541277 -0.02795096 0.13906259
+v -0.02311957 -0.04943158 0.13568241
+v -0.02039784 -0.02650691 0.13713125
+v -0.02012486 -0.04954507 0.13575904
+v -0.02148071 -0.06192312 0.13092493
+v -0.02011683 -0.06335934 0.12985933
+v -0.01516111 -0.05891764 0.13029842
+v -0.01516111 -0.04161262 0.13548672
+v -0.01546218 -0.02650690 0.13284812
+v -0.01555552 -0.02650690 0.13324786
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+v -0.01516111 -0.04082210 0.13410008
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+v -0.01516111 -0.04183566 0.12939548
+v -0.01516111 -0.04201958 0.12905788
+v -0.01516111 -0.04219177 0.12874306
+v -0.02541277 -0.03914325 0.13049940
+v -0.02537664 -0.06420853 0.12874297
+v -0.02541277 -0.03939764 0.13567934
+v -0.02262380 -0.06192312 0.13092493
+v -0.02278738 -0.06648613 0.12874297
+v -0.02012085 -0.06509296 0.12874297
+v -0.01743926 -0.06339455 0.12874298
+v -0.01516111 -0.06177440 0.12874298
+v -0.02541277 -0.04050120 0.13279008
+v -0.02541277 -0.04052861 0.13534277
+v -0.02541277 -0.04073211 0.13492336
+f 1 2 5
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+f 29 37 38
+f 29 38 36
+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_92.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17bcfdf770ba52ba8f3676723cd32a3dc13b4f39
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_92.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.02389275 -0.02010216 0.12874083
+v -0.02389275 -0.03308459 0.12874078
+v -0.02389275 -0.02010214 0.12355720
+v -0.03436737 -0.02010216 0.12874083
+v -0.02423817 -0.03341202 0.12874078
+v -0.02389275 -0.03379808 0.12355715
+v -0.02690034 -0.02029760 0.11754650
+v -0.02839712 -0.02029760 0.11751177
+v -0.04391246 -0.02010214 0.12355720
+v -0.03637243 -0.02190059 0.12874082
+v -0.03642859 -0.02010216 0.12802438
+v -0.02834938 -0.03455559 0.12874077
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+v -0.02690034 -0.02097446 0.11775101
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+v -0.05258139 -0.04252143 0.11782939
+v -0.05258139 -0.04251898 0.11782939
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_93.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25596ee71f47c3facfd0e0c69268a8345f9f8b45
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_93.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.02017033 -0.08015570 0.11622280
+v -0.01889391 -0.08433519 0.11388221
+v -0.02014944 -0.08433520 0.11622278
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+v -0.01858682 -0.08653901 0.11407923
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+v -0.01862024 -0.08663371 0.11782773
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+v -0.00945971 -0.07840383 0.11782776
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_94.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c181eed040e4ac796f112107e319daf0a4454c9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_94.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00741371 0.05789510 0.15354771
+v 0.00741371 0.06522070 0.14360912
+v 0.00528007 0.05747221 0.15354771
+v 0.00741371 0.03409952 0.15354763
+v 0.00741371 0.06673038 0.14135925
+v 0.00527207 0.05745856 0.15354771
+v 0.00655269 0.06453861 0.14326976
+v -0.00001548 0.02030782 0.15354757
+v 0.00741371 0.03152126 0.14926415
+v 0.00741371 0.06604375 0.14079579
+v 0.00715845 0.06603920 0.14138255
+v 0.00655269 0.06453861 0.14296926
+v 0.00526334 0.05743583 0.15354771
+v -0.00001548 0.04122046 0.15354765
+v -0.00001548 0.02028508 0.15350223
+v 0.00741371 0.03095742 0.14815928
+v 0.00741371 0.06201492 0.14068568
+v 0.00256612 0.03274904 0.14031643
+v 0.00108552 0.03274904 0.14165185
+v -0.00001548 0.03274904 0.14284350
+v -0.00001548 0.03660051 0.14567756
+v -0.00001548 0.03921060 0.14943386
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+v 0.00741371 0.03005709 0.14031642
+v 0.00741371 0.03014802 0.14481877
+v 0.00741371 0.03019349 0.14521513
+v 0.00741371 0.03056635 0.14716063
+v -0.00001548 0.02058520 0.15318490
+v 0.00741371 0.03766913 0.14031645
+v 0.00504154 0.03641409 0.14031644
+v 0.00488374 0.03631860 0.14031644
+v 0.00463576 0.03616400 0.14031644
+v 0.00440087 0.03591845 0.14031644
+v 0.00288682 0.03360391 0.14031643
+v 0.00141640 0.03009801 0.14220880
+v -0.00001548 0.03168952 0.14321006
+v -0.00001548 0.02352725 0.15014491
+v -0.00001548 0.02898393 0.14501825
+f 1 2 3
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+f 1 14 8
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_95.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc6302d51d893b06a8c41401376f89c39217602b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_95.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00043465 -0.02315519 0.11208147
+v 0.00043465 -0.02384343 0.10604195
+v -0.00166117 -0.02368093 0.10976488
+v -0.00192851 -0.02352226 0.11208147
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+v 0.00322228 -0.02334637 0.11277484
+v 0.00322432 -0.02334255 0.11208147
+v 0.00275087 -0.02357005 0.10891577
+v -0.00356517 -0.02546658 0.10604195
+v 0.00423652 -0.02525054 0.10604195
+v -0.00588139 -0.02760022 0.11335167
+v -0.00588139 -0.02760022 0.11445343
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+v -0.00230604 -0.02714330 0.11782680
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+v 0.00464058 -0.03493781 0.10604191
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+
diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_96.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8d32b54acde3f424ef9ee955f59643b27f7d0aa
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_96.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.05176440 0.00347109 0.09263498
+v -0.05163083 0.00095160 0.09276064
+v -0.05176440 0.00347108 0.09425401
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+v -0.04962712 0.00347108 0.09632436
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+v -0.04455576 -0.00479097 0.10056410
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+v -0.03502469 0.01229879 0.09971016
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+v -0.02877923 0.01229881 0.09530620
+v -0.02782308 0.01229881 0.09509155
+v -0.02782308 0.01137659 0.09482002
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+v -0.03166409 -0.00221439 0.09119388
+v -0.04449951 -0.00654032 0.09119387
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+v -0.04757186 0.00347107 0.09807549
+v -0.04479245 0.00347106 0.09971746
+v -0.04323870 0.00347106 0.10056413
+v -0.04035150 0.00698884 0.10056415
+v -0.03489580 0.01229879 0.10056417
+v -0.03502235 0.01229879 0.09972668
+v -0.04453467 -0.00484802 0.10056410
+v -0.02782308 0.01229879 0.10056417
+v -0.02782308 -0.02633497 0.09119379
+v -0.04359258 -0.03393624 0.09119377
+v -0.03970234 -0.03264322 0.09386403
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+v -0.04083895 -0.00885544 0.10056409
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+v -0.02782308 -0.02653939 0.09132680
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+v -0.04242316 -0.03563333 0.09119376
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diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_97.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57d8d59fbbcde848c5275c4ded0c6420a2a55d16
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_97.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_98.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..beb076a1db2ec447f9bf201e32fc05e1ce6af79f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_98.obj
@@ -0,0 +1,139 @@
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diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_99.obj b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2eea85659c4ac785f9d174e4d14d863884051404
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_collision_99.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..03efcb55f798b3b6cfde7514db656b4dce894d82
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/a5185bf234c052699756c923f71a036c/mjcf/mesh/houseplant_029_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f96cdb6d26e3ea35ad3b16c46f1357261c756da91cae77717d6b61e6762f155
+size 13871382
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