diff --git a/.gitattributes b/.gitattributes
index 51c7c4d581e07ed6e358b61b420e15ac494208fa..e04168339536971b61c29b9ca3900398cfcb7e0e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4974,3 +4974,4 @@ dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh
 dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/photo_frame_024.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/949b35ff81195a5ea907f7fbdaa6242f/949b35ff81195a5ea907f7fbdaa6242f.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/95ae3dbbcc5c53c1af73ad8c3751c616/95ae3dbbcc5c53c1af73ad8c3751c616.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/95b24223248e55b0ac3f12b4da6fcdba.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/95b24223248e55b0ac3f12b4da6fcdba.urdf b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/95b24223248e55b0ac3f12b4da6fcdba.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..808cc4999904dae94a194e514e837592b31d63ea
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/95b24223248e55b0ac3f12b4da6fcdba.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wind_chime_41">
+   <link name="wind_chime_41">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wind_chime_41.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wind_chime_41_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.600000</scale>
+         <version>v0.1.5</version>
+         <category>wind_chime</category>
+         <description>metallic wind chime with cylindrical tubes and circular weight</description>
+         <min_height>0.5</min_height>
+         <max_height>0.7</max_height>
+         <real_height>0.6</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20251016210206</generate_time>
+         <gs_model>mesh/wind_chime_41_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.811840653419495</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/95b24223248e55b0ac3f12b4da6fcdba.usd b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/95b24223248e55b0ac3f12b4da6fcdba.usd
new file mode 100644
index 0000000000000000000000000000000000000000..cc59196de697689bc813c1cdfdef36d0a23d8848
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/95b24223248e55b0ac3f12b4da6fcdba.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22d98c432b009d3136bf7867688620e091139fbb0e306e7adce2a2897ad6fa69
+size 345333
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c31690400694f5de6fa31f23e4b5995bc8058c6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a01ad7078eb28235ac09597133dfcf9ea9e863736e60493d0a4befc82daefedf
+size 861401
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mesh/wind_chime_41.glb b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mesh/wind_chime_41.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f1eee110d62b315420f93712277bdb918ecc90fd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mesh/wind_chime_41.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78b79547a75594ee4d91ea89ad6f5dcde022667fb25d14589df529a56e0cd837
+size 1114556
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mesh/wind_chime_41.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mesh/wind_chime_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cada130ef28c67fe1adb6fe674b9bfdfd2d045b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mesh/wind_chime_41.obj
@@ -0,0 +1,23306 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mesh/wind_chime_41_collision.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mesh/wind_chime_41_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d99158ddf3b6e3dc22f5ac8eb8f011b79a4a8d51
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mesh/wind_chime_41_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mesh/wind_chime_41_gs.ply b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mesh/wind_chime_41_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6760a5576be29fabdea94346748475f98cb550d1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mesh/wind_chime_41_gs.ply
@@ -0,0 +1,3 @@
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diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/95b24223248e55b0ac3f12b4da6fcdba.xml b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/95b24223248e55b0ac3f12b4da6fcdba.xml
new file mode 100644
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diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d8d963b568728ae3c3db16b198d4495b31e1b7b
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diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..523f6e00b7c60502552fcc23e909556a232f2d79
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision.obj
@@ -0,0 +1,5505 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_0.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60edb799763bffea9a8fc3de691dabf9e3995a80
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_0.obj
@@ -0,0 +1,217 @@
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+
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_1.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..748dd1ae276d52f94ac4a267ff776deacbe19042
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_1.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.00162086 0.06467812 0.18167258
+v 0.00533920 0.06305745 0.18167257
+v -0.00114182 0.06429628 0.18167258
+v -0.00110447 0.05676140 0.20072852
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+v 0.00531119 0.05301096 0.20436776
+v 0.01147003 0.05892943 0.18167256
+v 0.00929412 0.04690164 0.20995358
+v -0.00403525 0.06101678 0.18167256
+v -0.00353719 0.02133584 0.22500048
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+v -0.00216285 0.03268474 0.22146372
+v -0.00044298 0.03759340 0.21994925
+v 0.00047688 0.03759340 0.21994925
+v 0.00964121 0.04207782 0.21119634
+v 0.00967078 0.02955796 0.22055056
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+v 0.00396798 0.03268898 0.22157953
+v -0.00442125 0.05664268 0.18167255
+v -0.00404770 0.02133587 0.21787788
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+v -0.00222511 0.02133584 0.22680452
+v 0.00233371 0.02133584 0.22717870
+v 0.00269014 0.02133584 0.22717870
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+v 0.00959296 0.02329593 0.22052381
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+v -0.00371151 0.05252315 0.18167253
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+v 0.00948090 0.02133587 0.21900930
+v 0.00478044 0.02133588 0.21504932
+f 1 2 7
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+f 23 34 24
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+f 35 38 36
+f 36 38 40
+
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_10.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d8ca89a0c9f3aad6fab25221497a47e1215af33
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_10.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.03911461 0.03992627 0.17521068
+v 0.03911461 0.04207660 0.17527308
+v 0.01797358 0.05173144 0.17613710
+v 0.01797358 0.03992627 0.17479790
+v 0.03911461 0.03992635 0.15164842
+v 0.03911461 0.05156397 0.17351639
+v 0.03264502 0.05146942 0.17497553
+v 0.01797358 0.06102972 0.17498996
+v 0.01797358 0.03992634 0.15574746
+v 0.02658521 0.04594789 0.12710700
+v 0.02923223 0.04594789 0.12710700
+v 0.03911461 0.04035859 0.15099084
+v 0.02352840 0.03992634 0.15442271
+v 0.03911461 0.05686685 0.17130850
+v 0.03264502 0.05877945 0.17225407
+v 0.01797358 0.06434976 0.17287808
+v 0.01797358 0.05376842 0.14732384
+v 0.02482604 0.05146959 0.12710702
+v 0.02957372 0.04710680 0.12710700
+v 0.03911461 0.04367594 0.14804377
+v 0.03911461 0.05715320 0.17092931
+v 0.03888902 0.05727747 0.17118850
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+v 0.01797358 0.06650820 0.17135174
+v 0.01797358 0.05626723 0.14721826
+v 0.01797358 0.05986551 0.14743425
+v 0.02620026 0.05724251 0.12710704
+v 0.03084653 0.05146959 0.12710702
+v 0.03911461 0.04663399 0.14768859
+v 0.03911461 0.05743416 0.16947017
+v 0.03264502 0.06162947 0.16491517
+v 0.02599123 0.06464154 0.16491518
+v 0.02130357 0.06655684 0.16491518
+v 0.01797358 0.06752395 0.16491519
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+v 0.03058369 0.05269063 0.12710702
+v 0.03911461 0.05377921 0.15183086
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+v 0.02051298 0.06626242 0.15784986
+v 0.01797358 0.06719980 0.16056178
+v 0.03911461 0.05702358 0.15696667
+v 0.03911461 0.05740989 0.15880019
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+
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_11.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f9625903512b35d173eae80fe493a0a0d97b9a2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_11.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.05139810 -0.03482141 0.08507673
+v 0.05777552 -0.03079485 0.08507675
+v 0.05724250 -0.02995557 0.12710193
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+v 0.05139810 -0.03091103 0.12710193
+v 0.04309219 -0.03179812 0.09506104
+v 0.04243329 -0.03237818 0.08507674
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+v 0.05139810 -0.03476659 0.02521336
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+v 0.05139810 -0.03475975 0.01882214
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+v 0.05774070 -0.03075372 0.03519767
+v 0.06642963 -0.00230838 0.01882226
+v 0.06642695 -0.00229476 0.02521348
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+v 0.06598232 -0.00143510 0.09292014
+v 0.04717952 -0.02965529 0.12710193
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+v 0.03951912 -0.02366281 0.01882218
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+v 0.05789605 0.03065459 0.08507697
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+v 0.05780498 0.03060023 0.01882238
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+v 0.04072443 0.02329072 0.09506125
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+v 0.05139810 0.03070903 0.12710215
+v 0.05139810 0.03482471 0.01882240
+v 0.05139810 0.03488607 0.03519791
+f 1 2 3
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+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 3
+f 2 9 11
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+
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_12.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..918dfa89be3bb306cbe4e329fcef442b8a91d30e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_12.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.05196923 -0.01423017 0.10140992
+v -0.05356141 -0.00333999 0.12710203
+v -0.06043264 -0.00333999 0.12710203
+v -0.05207086 -0.01423017 0.10138873
+v -0.04425110 -0.01423015 0.09598322
+v -0.04624133 0.02664577 0.12710214
+v -0.04399421 -0.01423015 0.09540028
+v -0.03766218 -0.00019517 0.09010080
+v -0.06043264 0.00293002 0.12710205
+v -0.06626782 -0.00126921 0.09246438
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+v -0.05831537 -0.01423015 0.09603622
+v -0.04624133 0.02931633 0.12710215
+v -0.04174708 -0.01423011 0.08508741
+v -0.03766218 -0.00019517 0.08981463
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diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_13.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eba65a08bc8953ca08d80d91a8d1f891fabf9b1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_13.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_14.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d63c05d8345522391d14f89a28d79ce8e23940f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_14.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_15.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95efb0a1a87f356ad73f4904fe1b8f1e51498ad0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_15.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_16.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2893c89aff489a36f2a26e5f53e5c288e91eaab
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_16.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.05200762 -0.02273648 0.14419912
+v -0.05142648 -0.02292434 0.14419912
+v -0.04609876 -0.02672851 0.12710194
+v -0.04727844 -0.02634985 0.12710194
+v -0.05172923 -0.02496729 0.12710195
+v -0.05833406 -0.02398107 0.14419911
+v -0.04589345 -0.02664051 0.14419910
+v -0.02535165 -0.04470759 0.12710188
+v -0.05293327 -0.02530779 0.12710195
+v -0.05892564 -0.02414839 0.14419911
+v -0.02544212 -0.04477516 0.14419904
+v -0.02538297 -0.04474284 0.13498270
+v -0.02337855 -0.05272412 0.14419901
+v -0.02535165 -0.05135618 0.12710185
+v -0.05739449 -0.02660229 0.12710194
+v -0.05823314 -0.03111400 0.14419909
+v -0.05739449 -0.02982825 0.12710193
+v -0.02365346 -0.05272412 0.14419901
+v -0.03094731 -0.05135618 0.12710185
+v -0.03326144 -0.05263606 0.14419901
+f 1 2 3
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+f 1 18 13
+f 1 13 11
+f 1 11 7
+f 1 7 2
+f 2 7 3
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+f 10 17 16
+f 11 13 12
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+f 13 19 14
+f 16 17 20
+f 17 19 20
+f 18 20 19
+
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_17.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..080f36b78f08cbee50a00d0a51d6228b7b2abc53
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_17.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.02208087 -0.03949869 0.01882212
+v -0.02208087 -0.05723980 0.01882206
+v -0.02208087 -0.03946452 0.02521335
+v -0.00065894 -0.03753600 0.01882213
+v -0.00141089 -0.06646928 0.01882203
+v -0.02208087 -0.05818008 0.08507665
+v -0.02208087 -0.03943037 0.03392576
+v -0.00085130 -0.03744210 0.04517134
+v -0.00078718 -0.03747624 0.03519764
+v 0.02679028 -0.03737079 0.02200184
+v 0.02683109 -0.03738502 0.01882213
+v 0.00131130 -0.06646928 0.01882203
+v -0.00145170 -0.06646952 0.08507662
+v -0.00107863 -0.06631572 0.09230517
+v -0.02208087 -0.05738536 0.09439320
+v -0.00087462 -0.03742503 0.05515563
+v -0.02208087 -0.03935931 0.07510302
+v 0.02670285 -0.03737080 0.02521335
+v 0.02862645 -0.03737079 0.02200184
+v 0.02860313 -0.03738502 0.01882213
+v 0.03037518 -0.05792631 0.01882206
+v 0.03038684 -0.05794649 0.08507665
+v 0.00128798 -0.06646952 0.08507662
+v 0.00085663 -0.06631572 0.09230517
+v -0.00319460 -0.06074683 0.12710182
+v -0.02208087 -0.05248863 0.10409134
+v 0.02634727 -0.03737091 0.05561139
+v 0.02635310 -0.03737088 0.04517134
+v 0.02650466 -0.03737084 0.03519764
+v -0.02208087 -0.03937359 0.08387902
+v -0.00080467 -0.03745926 0.06512933
+v 0.02670868 -0.03737103 0.08603063
+v 0.02657461 -0.03737102 0.08507672
+v 0.02866142 -0.03737080 0.02518156
+v 0.03160512 -0.04047860 0.01882212
+v 0.03206562 -0.05587532 0.01882206
+v 0.03507343 -0.05213534 0.08507667
+v 0.02934926 -0.05387600 0.12710184
+v 0.02956493 -0.05747936 0.09506095
+v 0.03506760 -0.05222058 0.02521330
+v 0.00336314 -0.06074683 0.12710182
+v -0.00319460 -0.05403267 0.12710184
+v -0.02208087 -0.04444702 0.10428216
+v -0.02208087 -0.03937929 0.08507672
+v -0.00061813 -0.03755618 0.08507672
+v -0.00045492 -0.03762741 0.09078960
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+v 0.03328973 -0.04221911 0.01882211
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+v -0.02208087 -0.04409664 0.10367801
+v -0.02208087 -0.04034499 0.09220986
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+v 0.03334802 -0.04225068 0.08507670
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+v 0.02878967 -0.03737091 0.05515563
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+
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_18.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b36b65b104e6e489bca651d05677b847132c96d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_18.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.02530205 -0.04507972 0.12710440
+v 0.01797358 -0.04723999 0.15290380
+v 0.02340836 -0.04282996 0.15290381
+v 0.03911461 -0.03585621 0.15290384
+v 0.03044709 -0.04507972 0.12710440
+v 0.02520478 -0.04646182 0.12710440
+v 0.01797358 -0.05419262 0.14759992
+v 0.01797358 -0.05214851 0.14838288
+v 0.01797358 -0.06262762 0.15290374
+v 0.03911461 -0.04383750 0.14781969
+v 0.03911461 -0.05465422 0.15290377
+v 0.03008905 -0.05252561 0.12710438
+v 0.02568286 -0.05252561 0.12710438
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+v 0.01797358 -0.06252475 0.15277240
+v 0.02647966 -0.05387605 0.12710437
+v 0.02794287 -0.05654528 0.12976638
+v 0.02345389 -0.06279906 0.15290374
+v 0.03911461 -0.04953204 0.14864303
+v 0.03905873 -0.05470697 0.15290377
+v 0.02797598 -0.05654528 0.12976638
+v 0.02934813 -0.05387605 0.12710437
+v 0.03911461 -0.05412143 0.15198695
+v 0.03911461 -0.05218016 0.15036298
+v 0.02602849 -0.05320083 0.12710437
+v 0.03281059 -0.05941241 0.15290375
+v 0.03747341 -0.05617610 0.15290376
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+f 1 25 13
+f 1 13 6
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+f 20 27 21
+f 21 27 26
+
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_19.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44c0ed0b8974c7de7c99df878a0f83a0c29feb00
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_19.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.01575105 0.05146630 -0.11098065
+v -0.01575105 0.04315437 -0.10531133
+v -0.01575105 0.05379565 -0.10946986
+v -0.00993074 0.05715739 -0.13143078
+v -0.01010967 0.05146638 -0.13280141
+v -0.00991086 0.04547192 -0.13192923
+v -0.01575105 0.04069407 -0.09451779
+v -0.00725668 0.04223820 -0.13493524
+v -0.00238571 0.03637166 -0.13443686
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diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_2.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d5b676069008ee05f1605dd971e33270c21c891
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_2.obj
@@ -0,0 +1,217 @@
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diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_20.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc21a6c80c86d4fa1ede591017a6054f1ef4c2a7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_20.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_21.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e30f9778282e2432c7bbcf11d252cb6856e0848c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_21.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_22.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c393faaa97a3e4b93bbb732a3ebc284d2349e95
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_22.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_23.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a50bc4c30d8a8b74cb53d136a825a86e3a14e90f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_23.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_24.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1174b0e06e8fda83bd08878a1095a90a3148c7bc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_24.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.01664032 -0.00535253 0.17541142
+v -0.01664032 -0.00535246 0.15634141
+v -0.01664032 -0.00488009 0.17541440
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+v -0.01664032 0.00209920 0.17541145
+v -0.01664032 0.05146247 0.17532817
+v -0.04235714 0.04207085 0.17514930
+v -0.05173007 0.03267923 0.17489891
+v -0.06110301 0.00451153 0.17487793
+v -0.01664032 0.00451153 0.17540848
+v -0.06784943 -0.00488008 0.17234438
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+v -0.05953650 -0.00535242 0.14496736
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+v -0.05914487 0.03267924 0.17220144
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+v -0.01664032 0.06550696 0.17193032
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+
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_25.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ba85d6806a8b3daf598c9d841c17c755860ea41
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_25.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.05139790 0.03071302 0.12710215
+v 0.05202953 0.03443044 0.14495365
+v 0.05729471 0.02973474 0.12710215
+v 0.04609429 0.02896560 0.12710215
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+
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_26.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f238feb59832a263ab1143616e1625b38a855cd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_26.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v 0.06973908 -0.00488204 0.16491633
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+f 58 78 79
+f 58 79 80
+f 58 80 59
+f 59 80 81
+f 61 65 62
+f 62 65 82
+f 64 83 65
+f 65 83 84
+f 65 84 82
+f 66 85 86
+f 66 86 67
+f 67 86 68
+f 68 87 71
+f 68 71 69
+f 68 86 88
+f 68 88 87
+f 71 87 72
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+f 72 88 75
+f 75 88 89
+f 75 89 90
+f 75 90 91
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+f 86 89 88
+f 90 93 94
+f 90 94 91
+f 91 94 95
+f 93 96 94
+f 94 96 95
+
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_27.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e5b2adf9891212de35e7f1298d71a004f5a5192
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_27.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.01664032 -0.05488334 0.14792894
+v -0.00319253 -0.05403561 0.12710185
+v -0.01664032 -0.05723881 0.14792893
+v -0.01664032 -0.05013052 0.15210612
+v 0.00335686 -0.05403561 0.12710185
+v -0.00319253 -0.06074703 0.12710183
+v 0.01797357 -0.05013052 0.15149718
+v -0.01664032 -0.05880449 0.14858060
+v -0.01664032 -0.05013061 0.17611149
+v 0.00335686 -0.06074703 0.12710183
+v 0.01797357 -0.05215091 0.14838833
+v 0.01797357 -0.05419524 0.14760310
+v -0.00278256 -0.06650515 0.14743747
+v -0.00548635 -0.06810076 0.15406111
+v -0.01422791 -0.06730696 0.15639541
+v -0.01664032 -0.06695195 0.15718063
+v -0.01664032 -0.06629576 0.15602684
+v -0.01664032 -0.06229083 0.15028992
+v 0.01797357 -0.05013061 0.17609013
+v -0.01664032 -0.05223079 0.17655485
+v -0.01174775 -0.05424723 0.18166680
+v -0.00485275 -0.05142704 0.18166681
+v -0.01462095 -0.05013061 0.17645338
+v 0.00276732 -0.06650515 0.14743747
+v 0.01797357 -0.05837965 0.14792893
+v 0.01797357 -0.06684425 0.15734621
+v 0.01389418 -0.06739073 0.15608559
+v 0.00534235 -0.06810076 0.15398632
+v -0.00485275 -0.07049617 0.16491532
+v -0.01422791 -0.06865726 0.16491533
+v -0.01664032 -0.06775974 0.16228191
+v 0.01560522 -0.05013061 0.17649610
+v -0.00079707 -0.05163247 0.18166681
+v 0.00503064 -0.05276733 0.18166681
+v 0.00796821 -0.05355914 0.18166680
+v 0.01797357 -0.05231656 0.17618627
+v -0.01664032 -0.06119796 0.17560401
+v -0.01170709 -0.05911974 0.18166678
+v -0.01174775 -0.05560148 0.18166680
+v 0.00513567 -0.05013061 0.17729201
+v -0.00476127 -0.05013061 0.17746294
+v -0.00485275 -0.05013061 0.17746294
+v -0.01386199 -0.05013061 0.17658157
+v 0.01797357 -0.06765404 0.16491533
+v 0.01389418 -0.06881084 0.16491533
+v 0.00451902 -0.07050415 0.16491532
+v -0.00436485 -0.06788343 0.17525677
+v -0.01422791 -0.06727910 0.17214259
+v -0.01664032 -0.06692009 0.17152296
+v -0.01664032 -0.06792529 0.16491533
+v 0.00780557 -0.05557954 0.18166680
+v 0.01797357 -0.05620978 0.17600998
+v -0.01664032 -0.06346368 0.17403889
+v -0.00764463 -0.06202170 0.18166677
+v 0.01797357 -0.06727709 0.16875599
+v 0.01797357 -0.06678048 0.17115439
+v 0.01389418 -0.06734891 0.17197166
+v 0.00389898 -0.06788942 0.17505379
+v 0.00036169 -0.06613829 0.18050762
+v -0.00091227 -0.06613829 0.18050762
+v -0.00198295 -0.06502538 0.18166676
+v -0.00569642 -0.06325429 0.18166677
+v 0.00737527 -0.05827209 0.18166679
+v 0.01797357 -0.06096858 0.17476003
+v 0.00543044 -0.06153904 0.18166677
+v 0.00449191 -0.06239666 0.18166677
+v 0.00192365 -0.06416576 0.18166676
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 18
+f 1 18 17
+f 1 17 16
+f 1 16 31
+f 1 31 50
+f 1 50 49
+f 1 49 53
+f 1 53 37
+f 1 37 20
+f 1 20 9
+f 1 9 4
+f 1 4 2
+f 2 5 10
+f 2 10 6
+f 2 4 7
+f 2 7 5
+f 3 6 8
+f 4 9 23
+f 4 23 43
+f 4 43 42
+f 4 42 41
+f 4 41 40
+f 4 40 32
+f 4 32 19
+f 4 19 7
+f 5 7 11
+f 5 11 12
+f 5 12 10
+f 6 10 24
+f 6 24 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 8
+f 7 19 36
+f 7 36 52
+f 7 52 64
+f 7 64 56
+f 7 56 55
+f 7 55 44
+f 7 44 26
+f 7 26 25
+f 7 25 12
+f 7 12 11
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 10 12 25
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 24
+f 13 24 28
+f 13 28 14
+f 14 28 29
+f 14 29 15
+f 15 29 30
+f 15 30 16
+f 16 30 31
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 20 37 38
+f 20 38 39
+f 20 39 21
+f 21 39 38
+f 21 38 54
+f 21 54 62
+f 21 62 61
+f 21 61 67
+f 21 67 66
+f 21 66 65
+f 21 65 63
+f 21 63 51
+f 21 51 35
+f 21 35 34
+f 21 34 33
+f 21 33 22
+f 22 33 32
+f 22 32 40
+f 22 40 41
+f 22 41 42
+f 22 42 43
+f 22 43 23
+f 26 44 45
+f 26 45 27
+f 27 45 46
+f 27 46 28
+f 28 46 29
+f 29 46 47
+f 29 47 48
+f 29 48 30
+f 30 48 49
+f 30 49 50
+f 30 50 31
+f 35 51 36
+f 36 51 52
+f 37 53 38
+f 38 53 49
+f 38 49 54
+f 44 55 45
+f 45 55 56
+f 45 56 57
+f 45 57 46
+f 46 57 58
+f 46 58 47
+f 47 58 59
+f 47 59 60
+f 47 60 48
+f 48 60 49
+f 49 60 61
+f 49 61 62
+f 49 62 54
+f 51 63 52
+f 52 63 64
+f 56 64 65
+f 56 65 66
+f 56 66 67
+f 56 67 59
+f 56 59 57
+f 57 59 58
+f 59 67 61
+f 59 61 60
+f 63 65 64
+
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_28.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a8d13cdedcc571d1070299fef67086cf3393937
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_28.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02635272 -0.03783596 0.02199231
+v 0.02635272 -0.03783596 0.08603315
+v 0.02635272 -0.03683596 0.02199231
+v 0.02635272 -0.03683596 0.08603315
+v 0.02879845 -0.03783596 0.02199231
+v 0.02879845 -0.03783596 0.08603315
+v 0.02879845 -0.03683596 0.02199231
+v 0.02879845 -0.03683596 0.08603315
+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/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_29.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..387d618ae2f8bcb17ffd4d560aa1533de69c2dbf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_29.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.01664032 -0.01701023 0.15722372
+v -0.01664032 -0.05013052 0.15210127
+v -0.01664032 -0.01701029 0.17484047
+v -0.00485275 -0.01701023 0.15654244
+v -0.01664032 -0.05013061 0.17611139
+v 0.01797357 -0.05013052 0.15149372
+v -0.01462095 -0.05013061 0.17645457
+v -0.01386199 -0.05013061 0.17658168
+v -0.00485275 -0.05013061 0.17746125
+v -0.00758026 -0.01701029 0.17525992
+v 0.00451902 -0.01701022 0.15647634
+v 0.00724652 -0.01701022 0.15648905
+v 0.01797357 -0.01701023 0.15725677
+v 0.01797357 -0.05013061 0.17609106
+v -0.00476127 -0.05013061 0.17746125
+v -0.00485275 -0.01701029 0.17526245
+v 0.01797357 -0.01701029 0.17480487
+v 0.01560522 -0.05013061 0.17649526
+v 0.00179151 -0.01701029 0.17525737
+v 0.00513567 -0.05013061 0.17729347
+v 0.00451902 -0.01701029 0.17525483
+f 1 2 5
+f 1 5 3
+f 1 3 10
+f 1 10 16
+f 1 16 19
+f 1 19 21
+f 1 21 17
+f 1 17 13
+f 1 13 12
+f 1 12 11
+f 1 11 4
+f 1 4 2
+f 2 4 6
+f 2 6 14
+f 2 14 18
+f 2 18 20
+f 2 20 15
+f 2 15 9
+f 2 9 8
+f 2 8 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 17
+f 6 17 14
+f 9 15 16
+f 9 16 10
+f 14 17 18
+f 15 19 16
+f 15 20 21
+f 15 21 19
+f 17 21 20
+f 17 20 18
+
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_3.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01a88d4e6f8f8bc99699ea5af716a9a8397ff9ff
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_3.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.02208088 -0.05817802 0.08507665
+v -0.02208088 -0.05738644 0.09439320
+v -0.02952479 -0.05726168 0.09506095
+v -0.03041820 -0.05778652 0.08507665
+v -0.03043303 -0.05772174 0.01882206
+v -0.02384176 -0.05772174 0.01882206
+v -0.02208088 -0.05723989 0.01882206
+v -0.02208088 -0.05249047 0.10409134
+v -0.02535056 -0.05135475 0.12710185
+v -0.02783063 -0.05664647 0.10126139
+v -0.02848679 -0.05664647 0.10126139
+v -0.03094832 -0.05135475 0.12710185
+v -0.05739495 -0.02982608 0.12710193
+v -0.05785464 -0.03062184 0.08507675
+v -0.05777308 -0.03047973 0.04517137
+v -0.05774713 -0.03044527 0.03519767
+v -0.05769523 -0.03038498 0.01882216
+v -0.02208088 -0.03949723 0.01882212
+v -0.02208088 -0.04444518 0.10428216
+v -0.02535056 -0.04470771 0.12710188
+v -0.05739495 -0.02660366 0.12710194
+v -0.05995287 -0.01423011 0.08507681
+v -0.05969708 -0.01422987 0.01882222
+v -0.02208088 -0.03946714 0.02435483
+v -0.04215496 -0.01422987 0.01882222
+v -0.04179537 -0.01423008 0.07514551
+v -0.04174347 -0.01423011 0.08508741
+v -0.02208088 -0.04409239 0.10367801
+v -0.04609934 -0.02672843 0.12710194
+v -0.02208088 -0.04091727 0.09454165
+v -0.02208088 -0.04034075 0.09220986
+v -0.04398999 -0.01423015 0.09540028
+v -0.04424578 -0.01423015 0.09598322
+v -0.05293158 -0.02530867 0.12710195
+v -0.05206781 -0.01423017 0.10138873
+v -0.05831432 -0.01423015 0.09603622
+v -0.05863684 -0.01423015 0.09528368
+v -0.02208088 -0.03946284 0.02521335
+v -0.02208088 -0.03937701 0.08507672
+v -0.02208088 -0.03936841 0.08387902
+v -0.02208088 -0.03935547 0.07510302
+v -0.02208088 -0.03940697 0.04394185
+v -0.02208088 -0.03942414 0.03392576
+v -0.04727821 -0.02634983 0.12710194
+v -0.05196772 -0.01423017 0.10140992
+v -0.05172676 -0.02496879 0.12710195
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 18
+f 1 18 24
+f 1 24 38
+f 1 38 43
+f 1 43 42
+f 1 42 41
+f 1 41 40
+f 1 40 39
+f 1 39 31
+f 1 31 30
+f 1 30 28
+f 1 28 19
+f 1 19 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 4 14 5
+f 5 15 16
+f 5 16 17
+f 5 17 23
+f 5 23 25
+f 5 25 18
+f 5 18 7
+f 5 7 6
+f 5 14 15
+f 8 19 9
+f 9 19 20
+f 9 20 29
+f 9 29 44
+f 9 44 46
+f 9 46 34
+f 9 34 21
+f 9 21 13
+f 9 13 12
+f 9 12 11
+f 9 11 10
+f 13 21 22
+f 13 22 14
+f 14 22 15
+f 15 22 16
+f 16 22 17
+f 17 22 23
+f 18 25 26
+f 18 26 27
+f 18 27 24
+f 19 28 20
+f 20 28 30
+f 20 30 31
+f 20 31 27
+f 20 27 32
+f 20 32 33
+f 20 33 29
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 22 37 36
+f 22 36 35
+f 22 35 45
+f 22 45 33
+f 22 33 32
+f 22 32 27
+f 22 27 26
+f 22 26 25
+f 22 25 23
+f 24 27 38
+f 27 31 39
+f 27 39 40
+f 27 40 41
+f 27 41 42
+f 27 42 43
+f 27 43 38
+f 29 33 44
+f 33 45 46
+f 33 46 44
+f 34 46 35
+f 35 46 45
+
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_30.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c3c4a7a5cd11b61dcab7878f58f0a8b1fc34640
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_30.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00485275 -0.01700705 0.17526229
+v -0.00758026 -0.01700705 0.17526229
+v 0.00179151 -0.01700705 0.17525696
+v -0.00517463 -0.00514874 0.18166698
+v -0.01664032 -0.01700705 0.17484031
+v 0.00451902 -0.01700705 0.17525162
+v 0.00502047 -0.00508611 0.18166698
+v -0.00540503 0.00555553 0.18166702
+v -0.01664032 -0.00729582 0.17541189
+v -0.01664032 -0.01700699 0.15721821
+v 0.01797357 -0.01700705 0.17480292
+v 0.00518310 0.00150732 0.18166701
+v 0.01797357 -0.00488032 0.17536918
+v -0.01664032 0.00451332 0.17540661
+v -0.01664032 0.00209781 0.17541193
+v -0.00102747 0.00555106 0.18166702
+v 0.00451902 0.02869074 0.17479776
+v -0.01664032 0.02869074 0.17480309
+v -0.01664032 -0.00488025 0.15627811
+v -0.00346698 -0.00351583 0.12710204
+v -0.00485275 -0.01700699 0.15653981
+v 0.01797357 -0.01700699 0.15725025
+v 0.00517633 0.00542134 0.18166702
+v 0.01797357 0.00451332 0.17537456
+v 0.01797357 0.02869074 0.17478171
+v 0.00990965 0.02869074 0.17479240
+v -0.01664032 0.02869081 0.15625688
+v -0.01664032 0.00692442 0.15598437
+v -0.00346698 0.00363228 0.12710206
+v 0.00359065 -0.00351583 0.12710204
+v 0.00451902 -0.01700698 0.15647038
+v 0.00724652 -0.01700698 0.15648641
+v 0.01797357 -0.00896424 0.15644903
+v 0.01797357 0.00859284 0.17536923
+v 0.01797357 0.02869080 0.15693527
+v 0.00359065 0.00363228 0.12710206
+v 0.01797357 0.00451339 0.15629953
+v 0.01797357 0.00042939 0.15632087
+f 1 2 5
+f 1 5 10
+f 1 10 21
+f 1 21 31
+f 1 31 32
+f 1 32 22
+f 1 22 11
+f 1 11 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 4
+f 4 7 12
+f 4 12 23
+f 4 23 16
+f 4 16 8
+f 4 8 9
+f 4 9 5
+f 4 6 7
+f 5 9 15
+f 5 15 14
+f 5 14 18
+f 5 18 27
+f 5 27 28
+f 5 28 19
+f 5 19 10
+f 6 11 7
+f 7 11 13
+f 7 13 12
+f 8 14 15
+f 8 15 9
+f 8 16 17
+f 8 17 18
+f 8 18 14
+f 10 19 20
+f 10 20 21
+f 11 22 33
+f 11 33 38
+f 11 38 37
+f 11 37 35
+f 11 35 25
+f 11 25 34
+f 11 34 24
+f 11 24 13
+f 12 13 24
+f 12 24 23
+f 16 23 25
+f 16 25 26
+f 16 26 17
+f 17 26 25
+f 17 25 35
+f 17 35 27
+f 17 27 18
+f 19 28 20
+f 20 28 29
+f 20 29 36
+f 20 36 30
+f 20 30 31
+f 20 31 21
+f 22 32 30
+f 22 30 33
+f 23 24 34
+f 23 34 25
+f 27 35 36
+f 27 36 29
+f 27 29 28
+f 30 32 31
+f 30 36 37
+f 30 37 38
+f 30 38 33
+f 35 37 36
+
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_4.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a247d53fdd605d99f02a0a933b84e3aad4805e7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_4.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.02207529 0.05700389 0.01882248
+v -0.00206728 0.06641203 0.01882251
+v -0.02207529 0.03939236 0.01882241
+v -0.02207529 0.05725101 0.08507707
+v -0.00207287 0.06641784 0.02521373
+v 0.00204050 0.06641203 0.01882251
+v -0.00222936 0.06646709 0.08507710
+v -0.00108924 0.03700614 0.01882241
+v -0.02207529 0.03867051 0.06512961
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diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_5.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5db1c63449a14b909c6d3aee92c8af2f8d458969
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_5.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+v -0.05967090 -0.01428215 0.01882222
+v -0.04216104 -0.01428215 0.01880664
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+
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_6.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f53393b739ca9fff6f23a0255e4536950a3986f8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_6.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+v -0.03029055 -0.05778169 -0.09453742
+v -0.01575105 -0.05951815 -0.09453743
+v -0.01575105 -0.05952269 -0.06460039
+v -0.03044310 -0.05772895 0.01521853
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+v -0.02963680 -0.05737413 -0.10253647
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+v -0.01575105 -0.05950944 -0.05462137
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+v -0.05769594 -0.03038422 0.01882216
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+
diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_7.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c60e88a30b29c6bbdb1734e966e700d6879e6c33
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_7.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.01575105 -0.05076947 -0.11322827
+v -0.01575105 -0.05104730 -0.11322827
+v -0.01575105 -0.04562225 -0.11268349
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diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_8.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98720fe876f84d0728f62fde02a207710ad7b7c6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_8.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_9.obj b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..353009db212f38b005467b676be473a39944ae96
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/mjcf/mesh/wind_chime_41_collision_9.obj
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diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/textures/material_0.png b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c31690400694f5de6fa31f23e4b5995bc8058c6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/video.mp4 b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/video.mp4
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/95b24223248e55b0ac3f12b4da6fcdba/video.mp4
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