diff --git a/.gitattributes b/.gitattributes
index f33d49a6f71acb8d07031b2a4084d9dda345eb17..19d859517be006b83817fdec8bbc609878ef9c6b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2642,3 +2642,4 @@ dataset/bedroom_supplies/lighting_fixtures/0a4489b1a2875c82a580f8b62d346e08/0a44
 dataset/bedroom_supplies/lighting_fixtures/8cd95dbecb515a27babac094c0136b3b/8cd95dbecb515a27babac094c0136b3b.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/lighting_fixtures/7c90c8a94a9a5811be2c1eecd9afa7b3/7c90c8a94a9a5811be2c1eecd9afa7b3.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/lighting_fixtures/d90d4b6a0eee5d1b8d564c136581c2c2/d90d4b6a0eee5d1b8d564c136581c2c2.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/bdb512d3766b5bcc89c253c2bf391419.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/bdb512d3766b5bcc89c253c2bf391419.urdf b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/bdb512d3766b5bcc89c253c2bf391419.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7aba4fd8ac0a7fbe8c0951da4bb3fd9203618065
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/bdb512d3766b5bcc89c253c2bf391419.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lamp">
+   <link name="lamp">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/lamp.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/lamp_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="2.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.300000</scale>
+         <version>v0.1.5</version>
+         <category>lamp</category>
+         <description>modern black desk lamp with cylindrical shade and circular base</description>
+         <min_height>0.25</min_height>
+         <max_height>0.35</max_height>
+         <real_height>0.3</real_height>
+         <min_mass>1.5</min_mass>
+         <max_mass>2.5</max_mass>
+         <generate_time>20251004235949</generate_time>
+         <gs_model>mesh/lamp_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.888798475265503</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>7</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/bdb512d3766b5bcc89c253c2bf391419.usd b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/bdb512d3766b5bcc89c253c2bf391419.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4be2dcf5b8dde6bc1c842d1edd67a851485b6fab
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/bdb512d3766b5bcc89c253c2bf391419.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fce4bc2a9b4619985f16f199c420b8a3a74f6692b105a0d782c971b3560ce167
+size 763123
diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mesh/lamp.glb b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mesh/lamp.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2edd31c8de11d2c149d62e8644352a268a8086f7
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mesh/lamp.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95f0c95c6f00be0339fe75a494aca2fd2d848738bce1f01809dab521b3e50937
+size 1575372
diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mesh/lamp.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mesh/lamp.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bc4170476a42e2a88a20b0cd8abb5983be59da9
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mesh/lamp.obj
@@ -0,0 +1,47150 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mesh/lamp_collision.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mesh/lamp_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..923fcb4f603fac4abefa1b11276984181dcb0a32
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mesh/lamp_collision.obj
@@ -0,0 +1,13227 @@
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mesh/lamp_gs.ply b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mesh/lamp_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..14996ebce3b17175773b340ff4ea72b868f745f6
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mesh/lamp_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ba968b395bc46e4bc1836d8e121629532ed0e19f421c47883ddb8b927b80eb9
+size 19887978
diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mesh/material.mtl b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/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/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mesh/material_0.png b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..abf74e4812bdf068f1ef06f24a128d260bfffd51
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f08a1f5d67afaf3679b72c5b38389132db64fc69d7950f47c8d19f76cbc26a8
+size 1059602
diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/bdb512d3766b5bcc89c253c2bf391419.xml b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/bdb512d3766b5bcc89c253c2bf391419.xml
new file mode 100644
index 0000000000000000000000000000000000000000..72eecb71497ff20cd8c12e8bab9a7588e440a1f0
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/bdb512d3766b5bcc89c253c2bf391419.xml
@@ -0,0 +1,94 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lamp">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/lamp.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lamp_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lamp_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/lamp_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/lamp_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/lamp_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/lamp_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/lamp_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/lamp_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/lamp_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/lamp_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/lamp_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/lamp_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/lamp_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/lamp_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/lamp_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/lamp_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/lamp_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/lamp_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/lamp_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/lamp_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/lamp_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/lamp_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/lamp_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/lamp_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/lamp_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/lamp_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/lamp_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/lamp_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/lamp_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/lamp_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/lamp_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/lamp_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/lamp_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/lamp_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/lamp_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/lamp_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/lamp_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/lamp_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/lamp_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/lamp_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lamp">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1283f4d7ebc5de4eff656620a1bd507338662d59
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp.obj
@@ -0,0 +1,47150 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca23f268882f45927c48cd906264e40e30a8e011
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision.obj
@@ -0,0 +1,13227 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_0.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75adf17f9b7ccf9ae2dcd59c27708dbccb8f406e
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_0.obj
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+
diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_1.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..167fcf1c98442e202f563a2f2af72239f517e5c3
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_1.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.01729492 0.03985618 -0.11772941
+v 0.01669741 0.03495700 -0.11772943
+v 0.01728821 0.04002169 -0.11772941
+v 0.00787232 0.08385605 -0.10168946
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+v -0.01596112 0.03140178 -0.11772944
+v -0.01628673 0.04476198 -0.11772940
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+
diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_10.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..495e6bb9cca4d091de64cf8b2524306c5194ae3f
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_10.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.02906280 -0.01226796 0.12490602
+v 0.02959438 -0.01226796 0.12441291
+v 0.02906280 -0.01175716 0.12440497
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+v 0.02936867 -0.01159691 0.12395957
+v 0.03058792 -0.01226795 0.12329148
+v 0.03366978 0.03889215 0.06825407
+v 0.02936445 0.03741983 0.07437024
+v 0.02906280 0.03756004 0.07450545
+v 0.02906280 0.00005142 0.08708760
+v 0.03164474 -0.01226766 0.04365398
+v 0.02906280 0.03889213 0.07312156
+v 0.03385119 -0.01226794 0.11960110
+v 0.03409589 -0.01177717 0.11880577
+v 0.03523708 0.03889216 0.06619414
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+v 0.02906280 0.03889222 0.04809217
+v 0.02930750 0.03889223 0.04753544
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+v 0.04637061 -0.01226766 0.04365398
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+v 0.03845395 -0.01226792 0.11304749
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+v 0.04848425 -0.00499630 0.04365401
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+v 0.04930481 -0.00425015 0.04711375
+v 0.04184379 -0.01226789 0.10651774
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+v 0.04087556 0.03889219 0.05699204
+v 0.04347437 -0.01226788 0.10287508
+v 0.04928372 0.02495546 0.04694683
+v 0.04878590 -0.01226781 0.08425614
+v 0.04882175 -0.01203244 0.08384258
+v 0.04977521 0.02508567 0.04365412
+v 0.04954529 0.00060244 0.04365403
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+
diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_11.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34a7edd8241cb2534f8477d2255d4ecda573221a
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_11.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.02661803 0.06170280 0.03268240
+v 0.03444337 0.06170285 0.01809477
+v 0.03801488 0.03889457 0.01540147
+v 0.03592733 0.03889451 0.03268231
+v 0.04249059 0.06170280 0.03268240
+v 0.03677905 0.06170286 0.01540156
+v 0.03624225 0.05960177 0.01540155
+v 0.05083841 0.03889457 0.01540147
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+v 0.05089806 0.03948403 0.01540148
+v 0.05094339 0.03889457 0.01732325
+v 0.04955964 0.03889451 0.03226615
+v 0.04938071 0.03967376 0.03268232
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+v 0.04345205 0.05973121 0.03268239
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+
diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_12.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d35030614f36cdf36e981b54cf569ee294d140e4
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_12.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.01012949 0.08579124 0.04712405
+v 0.01988499 0.08279585 0.03596229
+v 0.02139226 0.08279585 0.03472373
+v 0.02507941 0.08279586 0.03160101
+v 0.01012949 0.08801976 0.04712405
+v 0.00738008 0.08402015 0.04712404
+v 0.00735062 0.08400121 0.04712404
+v 0.01189206 0.08279583 0.04208212
+v 0.02507941 0.08279587 0.03028941
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+v 0.00246551 0.08279581 0.04682899
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_13.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03c4657c7f5763e69ef0d3c351a73c1667b2f9ce
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_13.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00013305 -0.01226800 0.13692696
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_14.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1341b892f79e1767729f0e58a7442ce27653b4b
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_14.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_15.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aba1f63d006e35b281bb1854231e09558c862a4
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_15.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00246602 0.04189653 -0.01243063
+v 0.00523390 0.04211774 -0.00962491
+v 0.00246602 0.04204506 -0.00948525
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_16.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4830f47ecc7efc1fd167721a4739b3566160341a
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_16.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_17.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7cdb31cc1509f92858b16be36c2b0763438ac62
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_17.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_18.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ef6d273aa0a3e76b899e4b89a2cc68b0795d926
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_18.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00246912 -0.01226800 0.13691926
+v 0.00013588 -0.01226800 0.13691926
+v 0.00378864 -0.01226800 0.13678013
+v 0.00250027 0.03889208 0.08800570
+v 0.00013588 -0.01226794 0.11869292
+v 0.00246629 0.03889208 0.08800570
+v 0.00013588 0.03889208 0.08797092
+v 0.00735646 -0.01226800 0.13638882
+v 0.00952547 -0.01226800 0.13592795
+v 0.01224098 -0.01226800 0.13532794
+v 0.00745840 0.03889208 0.08674482
+v 0.00013588 -0.00049450 0.10563190
+v 0.02906070 0.00005142 0.08710120
+v 0.02906070 -0.01226787 0.10094483
+v 0.00013588 0.03889215 0.06890978
+v 0.01392012 -0.01226800 0.13484967
+v 0.01928318 0.03889210 0.08034473
+v 0.01477526 -0.01157691 0.13389314
+v 0.01518301 -0.01226799 0.13440619
+v 0.01776544 -0.01226799 0.13318008
+v 0.01799480 -0.01226799 0.13306703
+v 0.00013588 0.00195934 0.10293623
+v 0.02906070 0.00494408 0.08216203
+v 0.02906070 -0.01226796 0.12490169
+v 0.02906070 0.03889222 0.04809209
+v 0.00013588 0.03784550 0.06977066
+v 0.02085754 0.03828115 0.08010994
+v 0.02139272 0.03889211 0.07919688
+v 0.01814770 -0.01226799 0.13298008
+v 0.00013588 0.00314620 0.10175360
+v 0.02906070 -0.01167704 0.12431909
+v 0.02810928 -0.01226796 0.12577997
+v 0.02906070 0.03889213 0.07311853
+v 0.00013588 0.01929147 0.08576212
+v 0.00013588 0.02174030 0.08344906
+v 0.02324459 0.03889211 0.07801426
+v 0.02095099 -0.01075562 0.12980613
+v 0.02180047 -0.01226798 0.13081483
+v 0.02906070 0.03756004 0.07450116
+v 0.02690018 0.03889212 0.07511856
+v 0.02690018 -0.01226797 0.12684956
+v 0.02380241 -0.01226798 0.12948438
+v 0.02420733 -0.01178722 0.12871046
+v 0.02411672 0.03715940 0.07908384
+v 0.02535979 -0.01226797 0.12820610
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+f 40 43 45
+f 40 45 41
+f 42 45 43
+
diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_19.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2cf515e62cac30547ccb8157edada54720f1837
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_19.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.05084023 0.03889457 0.01540147
+v 0.05089823 0.03948403 0.01540148
+v 0.03801621 0.03889457 0.01540147
+v 0.05075140 0.03889458 0.01236272
+v 0.05084747 0.03985692 0.01236273
+v 0.05093449 0.03985691 0.01540148
+v 0.03624144 0.05960177 0.01540155
+v 0.03260308 0.03889466 -0.00713898
+v 0.05041058 0.03985694 0.00740344
+v 0.05057917 0.04476025 0.00244416
+v 0.05025830 0.03889460 0.00732795
+v 0.05093812 0.04476023 0.00740345
+v 0.05093086 0.04476020 0.01540149
+v 0.05105414 0.04476021 0.01236274
+v 0.03677804 0.06170286 0.01540156
+v 0.03313061 0.03889467 -0.01077598
+v 0.05053567 0.04966129 0.00244418
+v 0.05112121 0.04966127 0.00740347
+v 0.04979603 0.03985696 0.00244415
+v 0.04915791 0.04017628 -0.00206227
+v 0.04897481 0.04202507 -0.00517370
+v 0.04951685 0.04465755 -0.00284501
+v 0.04962019 0.03889462 0.00244414
+v 0.05059912 0.04966124 0.01540151
+v 0.05088192 0.04966125 0.01236276
+v 0.04905458 0.06170286 0.01540156
+v 0.03790382 0.06170287 0.01288557
+v 0.03377236 0.03889467 -0.01158389
+v 0.04939902 0.04966130 -0.00111175
+v 0.04948603 0.05410907 0.00283278
+v 0.05054473 0.05456232 0.00740349
+v 0.05051210 0.05456230 0.01236278
+v 0.04904733 0.03889463 -0.00117888
+v 0.04897481 0.04295839 -0.00517369
+v 0.04854698 0.03889464 -0.00328672
+v 0.04835120 0.03889464 -0.00377035
+v 0.04641327 0.03889466 -0.00822085
+v 0.04459319 0.03889467 -0.01077598
+v 0.05009515 0.05456229 0.01540153
+v 0.04912709 0.06170287 0.01450139
+v 0.04008466 0.06170288 0.01082526
+v 0.03708260 0.04011379 -0.01188300
+v 0.03690675 0.03889468 -0.01315778
+v 0.04064301 0.06170288 0.01051495
+v 0.04894943 0.05217323 -0.00008857
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+v 0.04906183 0.05719483 0.00474214
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+v 0.04644953 0.05716803 0.00476730
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+v 0.04551048 0.06170288 0.00953372
+v 0.04837658 0.06170288 0.00981886
+v 0.04860500 0.06170288 0.00989993
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+
diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_2.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35522c80dbf3b4da9349008fe3be3817a6c6b245
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_2.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.00686120 0.04475908 -0.10168961
+v -0.00655805 0.04882308 -0.10168586
+v -0.00655805 0.04882308 -0.10168959
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+v -0.00516518 0.04215061 -0.10168589
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+v -0.00647065 0.04880216 -0.06354677
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+v -0.00242042 0.05041894 -0.06354676
+v -0.00242042 0.04198519 -0.10168962
+v -0.00242042 0.04198519 -0.10168589
+v -0.00325614 0.04204407 -0.06354680
+v 0.00246553 0.05045396 -0.09176834
+v 0.00246553 0.05045316 -0.09672709
+v 0.00246553 0.05033430 -0.10168959
+v -0.00091694 0.05042726 -0.06354676
+v 0.00246553 0.05044388 -0.06354676
+v 0.00246553 0.04196773 -0.10168962
+v 0.00246553 0.04196261 -0.06354680
+v -0.00242042 0.04199420 -0.06354680
+v 0.00673288 0.04883304 -0.09672710
+v 0.00664412 0.04871917 -0.10168959
+v 0.00376417 0.04994762 -0.06354677
+v 0.00527994 0.04213315 -0.10168962
+v 0.00529769 0.04212555 -0.06697835
+v 0.00529632 0.04212470 -0.06354680
+v 0.00442647 0.04207483 -0.06354680
+v 0.00708929 0.04475907 -0.09672712
+v 0.00701555 0.04475908 -0.10168961
+v 0.00668236 0.04882793 -0.06354677
+v 0.00670557 0.04882631 -0.07689582
+v 0.00706881 0.04475894 -0.06354679
+v 0.00707291 0.04475896 -0.06697834
+f 1 2 3
+f 1 3 10
+f 1 10 17
+f 1 17 24
+f 1 24 31
+f 1 31 26
+f 1 26 20
+f 1 20 12
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+f 1 6 7
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+f 17 23 24
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+f 20 29 21
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+f 23 25 32
+f 23 32 33
+f 23 33 34
+f 23 34 35
+f 23 35 30
+f 26 31 30
+f 26 30 27
+f 27 30 28
+f 28 35 34
+f 28 30 35
+f 32 34 33
+
diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_20.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aad2e7f89c9809b059016bfb925d96c0904e00dd
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_20.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v -0.02899410 -0.01226764 0.03808189
+v -0.02899410 -0.00911092 0.03523648
+v -0.02899410 -0.01226755 0.01327082
+v 0.00022226 -0.01226757 0.01797109
+v -0.02899410 -0.00422606 0.03027693
+v 0.00022226 0.01164519 -0.00625485
+v -0.02736684 -0.01226754 0.01174173
+v -0.02899410 -0.00925369 0.01009965
+v -0.02819620 -0.01068688 0.01083094
+v 0.00022226 -0.01226750 0.00053287
+v -0.02899410 0.01521659 0.01003990
+v 0.00022226 0.01404153 -0.00873462
+v -0.02820764 -0.00581585 0.00585146
+v -0.02515331 -0.01226754 0.00987359
+v -0.02899410 -0.00442413 0.00513345
+v -0.00104180 -0.01226750 0.00053287
+v 0.00022226 -0.01167763 -0.00009205
+v -0.02899410 0.03328596 -0.00920657
+v 0.00022226 0.01649318 -0.01136064
+v -0.02822766 -0.00092177 0.00087198
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_21.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5729fed2232a9014ed294ba3187b75551ab28adc
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_21.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_22.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e34faddbd1356a6a85cde6871f7bfcdec0be4d6d
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_22.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_23.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..487e383dd425f947309fd97a145436e8dc605a55
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_23.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_24.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..558fa20970630930dfa5e4f3de8959c605f6bddb
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_24.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_25.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbb542b022bf1442c81cb44d19024f1d12c7a046
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_25.obj
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_26.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c6d49e25d9ab36431b938956f9af24b89d248c1
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_26.obj
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_27.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..419bfd9fe793d127d01af5b95b3c98a9c275783c
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_27.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_28.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7925db8de8aebdee82db917c61167166306dd291
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_28.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_29.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1aa3ccfca2bcbd572169ad302523efc51ea40471
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_29.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_3.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af7114746df1d5462061785b2793c1025df30e10
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_3.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_30.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b45c5fb7cb11f267b3d2a1c18a848a9309bf058
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_30.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_31.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9c256a464433a6b7ec37e00680aed46d2a5fd72
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_31.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.00242003 0.03920512 0.08855244
+v 0.00111306 0.03922274 0.08855244
+v 0.00304291 0.03923815 0.08855244
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+
diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_32.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2853bb0526297bc0b656f9c604ce1666616d7688
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_32.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_33.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ffeab4cc3aecace3ea9240254394e393478b1f7
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_33.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v -0.03443761 -0.08543914 0.09501445
+v -0.03450066 -0.08542151 0.09499545
+v -0.03443761 -0.08543913 0.09368136
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_34.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14f7dbfd7d7c90770c5bc5993f265e4aee7fc10b
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_34.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_35.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52d7e53dcf3ad941babd9424f7976dc1f6be6a64
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_35.obj
@@ -0,0 +1,490 @@
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_36.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54223ebe47b07adf590906da48c1eb0344777a4b
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_36.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_37.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbd2985c7537024d11456fb9ab51066645574010
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_37.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v 0.03821807 0.03889233 0.01858263
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+v 0.05088141 0.03889233 0.01858263
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+
diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_38.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05fa7be320b8b3b72f54925379bf8f4756485c74
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_38.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00249814 0.03889431 0.08800123
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+v 0.00241906 0.03920466 0.08854926
+v 0.00246248 0.03889431 0.08800123
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+v 0.00696993 0.04033670 0.08854927
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+v 0.00794368 0.03889438 0.06795142
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+v 0.00794368 0.06170269 0.06298361
+v -0.00789367 0.03889438 0.06744349
+v 0.00794368 0.05827760 0.04656502
+v -0.00779288 0.04475993 0.08854928
+v -0.00789367 0.04476440 0.08654430
+v 0.00647841 0.04847311 0.08854930
+v 0.00794368 0.06170276 0.04303182
+v 0.00735292 0.06170269 0.06314847
+v 0.00246558 0.04971456 0.08854930
+v 0.00502089 0.04892861 0.08854930
+v -0.00789367 0.05624572 0.04870813
+v 0.00794368 0.05855000 0.04626651
+v -0.00652453 0.04845748 0.08854930
+v -0.00789367 0.06170269 0.06289005
+v 0.00794368 0.06152636 0.04320113
+v -0.00789367 0.06102621 0.04375806
+v -0.00789367 0.06170276 0.04313429
+v 0.00296641 0.06170269 0.06370986
+v -0.00242022 0.04969893 0.08854930
+v 0.00246558 0.06170269 0.06376778
+v -0.00789367 0.05652482 0.04840961
+v -0.00789367 0.05857456 0.04622641
+v 0.00794368 0.06070245 0.04399865
+v -0.00730601 0.06170269 0.06305490
+v -0.00242022 0.06170269 0.06371877
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 17
+f 1 17 22
+f 1 22 16
+f 1 16 9
+f 1 9 5
+f 1 5 2
+f 2 6 10
+f 2 10 15
+f 2 15 20
+f 2 20 26
+f 2 26 30
+f 2 30 29
+f 2 29 39
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+f 2 24 18
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+f 2 13 11
+f 2 11 7
+f 2 7 3
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 5 9 6
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+f 8 11 13
+f 8 13 12
+f 9 14 15
+f 9 15 10
+f 9 16 23
+f 9 23 32
+f 9 32 43
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+f 9 35 27
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+f 9 21 19
+f 9 19 14
+f 12 13 17
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+f 16 22 23
+f 17 18 24
+f 17 24 25
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+f 17 36 42
+f 17 42 41
+f 17 41 31
+f 17 31 22
+f 20 21 26
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+f 21 37 34
+f 21 34 44
+f 21 44 45
+f 21 45 40
+f 21 40 38
+f 21 38 28
+f 21 28 29
+f 21 29 30
+f 21 30 26
+f 22 31 32
+f 22 32 23
+f 24 33 34
+f 24 34 25
+f 27 35 36
+f 27 36 37
+f 28 38 29
+f 29 38 40
+f 29 40 39
+f 31 41 32
+f 32 41 42
+f 32 42 43
+f 33 39 34
+f 34 39 44
+f 35 43 36
+f 36 43 42
+f 39 40 45
+f 39 45 44
+
diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_39.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d02eb7a7009f953f2ebff1760269ff4c291d5461
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_39.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00246508 0.06170475 0.06376725
+v -0.00242227 0.06170475 0.06371538
+v 0.00408688 0.06170475 0.06356377
+v 0.00246508 0.08279581 0.04683018
+v -0.00730563 0.06170475 0.06305306
+v 0.00208805 0.08279581 0.04682220
+v -0.00242227 0.08279581 0.04668654
+v 0.00408688 0.06170482 0.04377384
+v 0.00408688 0.08279581 0.04495492
+v -0.01219297 0.06170475 0.06168851
+v -0.00397824 0.08279581 0.04596836
+v -0.01577969 0.06170476 0.06030801
+v -0.01629236 0.06170483 0.04003530
+v 0.00408688 0.06301591 0.04242127
+v 0.00408688 0.08279589 0.02440293
+v -0.01275352 0.08279583 0.04182285
+v -0.01629236 0.06170476 0.06002871
+v -0.01629236 0.07446891 0.02823720
+v 0.00246508 0.08279589 0.02355308
+v 0.00408688 0.06550390 0.03994754
+v 0.00408688 0.07673595 0.02981322
+v -0.01629236 0.08279584 0.03805638
+v -0.01629236 0.06340609 0.05826916
+v -0.01629236 0.07907321 0.02658540
+v -0.00242227 0.08279590 0.02300646
+v -0.00125130 0.08279590 0.02308626
+v 0.00408688 0.06631740 0.03918945
+v -0.01629236 0.08279588 0.02804571
+f 1 2 5
+f 1 5 10
+f 1 10 12
+f 1 12 17
+f 1 17 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 14
+f 3 14 20
+f 3 20 27
+f 3 27 21
+f 3 21 15
+f 3 15 9
+f 3 9 4
+f 4 9 15
+f 4 15 19
+f 4 19 26
+f 4 26 25
+f 4 25 28
+f 4 28 22
+f 4 22 16
+f 4 16 11
+f 4 11 7
+f 4 7 6
+f 5 7 10
+f 7 11 12
+f 7 12 10
+f 8 13 14
+f 11 16 12
+f 12 16 17
+f 13 18 19
+f 13 19 20
+f 13 20 14
+f 13 17 23
+f 13 23 22
+f 13 22 28
+f 13 28 24
+f 13 24 18
+f 15 21 19
+f 16 22 23
+f 16 23 17
+f 18 24 25
+f 18 25 26
+f 18 26 19
+f 19 21 27
+f 19 27 20
+f 24 28 25
+
diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_4.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8764b202d221a52c8575f5e4121f72f539e2b4ab
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_4.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.00794523 0.06170276 0.04303377
+v 0.02661822 0.06170280 0.03268410
+v 0.03592219 0.03889451 0.03268401
+v 0.00794523 0.06152636 0.04320274
+v 0.00794523 0.06170269 0.06297800
+v 0.04248945 0.06170280 0.03268410
+v 0.00794523 0.05855000 0.04626539
+v 0.00794523 0.06070245 0.04399479
+v 0.04948775 0.03889451 0.03268401
+v 0.00794523 0.03889438 0.06795208
+v 0.00794523 0.04476440 0.08648118
+v 0.00881138 0.06170269 0.06274038
+v 0.04335966 0.05993217 0.03268409
+v 0.04035865 0.06170279 0.03668667
+v 0.03991541 0.03889441 0.05888556
+v 0.04938203 0.03967376 0.03268402
+v 0.04921937 0.03889450 0.03422061
+v 0.00794523 0.03889431 0.08641779
+v 0.00794523 0.04463489 0.08662903
+v 0.02406451 0.06170272 0.05527911
+v 0.02201504 0.06170271 0.05672067
+v 0.01925394 0.06170270 0.05855298
+v 0.01868058 0.06170270 0.05891206
+v 0.01802588 0.06170270 0.05925528
+v 0.01589101 0.06170270 0.06034834
+v 0.01441084 0.06170270 0.06095559
+v 0.01224344 0.06170269 0.06176349
+v 0.04345319 0.05973121 0.03268409
+v 0.04087508 0.03889442 0.05698988
+v 0.03898420 0.06170278 0.03909983
+v 0.03861009 0.04147108 0.05866379
+v 0.03867515 0.03889441 0.06095550
+v 0.04888186 0.04227947 0.03268403
+v 0.04875987 0.03889450 0.03611629
+v 0.01928647 0.03889433 0.08033472
+v 0.02139694 0.03889434 0.07919414
+v 0.02324716 0.03889434 0.07801133
+v 0.02690287 0.03889435 0.07510709
+v 0.02945658 0.04243116 0.06950455
+v 0.02955011 0.04743717 0.06464128
+v 0.02782188 0.05070157 0.06305716
+v 0.02456468 0.05219755 0.06451456
+v 0.02460128 0.05712988 0.05959321
+v 0.02472734 0.06170272 0.05477747
+v 0.04430307 0.05775517 0.03268408
+v 0.04289609 0.03990367 0.05203684
+v 0.04311161 0.03889444 0.05253319
+v 0.04368498 0.04156937 0.04886858
+v 0.03888254 0.06170278 0.03925825
+v 0.03891507 0.06157551 0.03933217
+v 0.03754468 0.03889440 0.06277197
+v 0.04843455 0.04413941 0.03268403
+v 0.04871107 0.04152924 0.03399357
+v 0.04837355 0.03889449 0.03761066
+v 0.03009908 0.03889436 0.07216588
+v 0.03034306 0.03937889 0.07144245
+v 0.03421022 0.04228158 0.06440364
+v 0.03314889 0.04476003 0.06319442
+v 0.03402317 0.06170275 0.04576375
+v 0.02960704 0.05238959 0.05975161
+v 0.03050165 0.04434247 0.06654223
+v 0.03325055 0.04033008 0.06733428
+v 0.02785848 0.05565845 0.05810412
+v 0.02621158 0.05392799 0.06131991
+v 0.02907841 0.06170273 0.05090162
+v 0.04537254 0.05484803 0.03268407
+v 0.04461619 0.03889445 0.04919595
+v 0.04382324 0.03889444 0.05099658
+v 0.03873615 0.06170278 0.03945891
+v 0.03531629 0.03901273 0.06596136
+v 0.03536509 0.03889439 0.06600360
+v 0.04823530 0.04492536 0.03268404
+v 0.04708043 0.03889448 0.04210431
+v 0.03121734 0.03889437 0.07094081
+v 0.03366532 0.03889438 0.06824250
+v 0.03523496 0.03889439 0.06618842
+v 0.03455994 0.06170275 0.04514594
+v 0.02989982 0.06170274 0.05010956
+v 0.04698691 0.04967904 0.03268405
+v 0.04503909 0.03990369 0.04715771
+v 0.04538067 0.03889446 0.04714186
+v 0.04681205 0.03985682 0.04212017
+f 1 2 3
+f 1 3 4
+f 1 4 8
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+f 1 10 18
+f 1 18 19
+f 1 19 11
+f 1 11 5
+f 1 5 12
+f 1 12 27
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+f 1 44 65
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+f 1 14 6
+f 1 6 2
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+f 2 66 79
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+f 2 72 52
+f 2 52 33
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+f 2 16 9
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+f 3 54 73
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+f 40 62 57
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+f 41 64 42
+f 42 64 43
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+f 43 65 44
+f 45 48 67
+f 45 67 66
+f 47 68 48
+f 48 68 67
+f 49 69 57
+f 49 57 70
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+f 49 71 50
+f 50 71 51
+f 52 72 54
+f 52 54 53
+f 54 72 73
+f 55 74 56
+f 56 74 61
+f 57 62 75
+f 57 75 76
+f 57 76 70
+f 57 69 77
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+f 57 59 58
+f 59 78 60
+f 60 78 65
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+f 62 74 75
+f 66 67 80
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+f 66 81 82
+f 66 82 79
+f 67 81 80
+f 70 76 71
+f 72 79 73
+f 73 79 82
+f 73 82 81
+
diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_5.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3df4c6a367db52e1903f6fee31d64c1d7a2fa9cc
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_5.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00631990 0.06170454 0.12103728
+v -0.00645579 0.06170455 0.11657214
+v 0.00628608 0.06170454 0.12098958
+v -0.00383414 0.06559237 0.12449175
+v -0.00562147 0.06559237 0.12449175
+v -0.00583823 0.08101159 0.13435780
+v -0.00740365 0.08279549 0.13251815
+v -0.00793521 0.08279550 0.13114181
+v -0.00892263 0.08279552 0.12644048
+v -0.00711637 0.08279555 0.11696740
+v -0.00694090 0.08279555 0.11678116
+v -0.00242353 0.08279557 0.11202305
+v -0.00344880 0.06170456 0.11558419
+v -0.00839795 0.08279553 0.12141890
+v 0.00649251 0.06170454 0.11849583
+v 0.00865142 0.08279552 0.12659038
+v 0.00807342 0.08279550 0.13028331
+v 0.00785151 0.08279550 0.13137347
+v 0.00590075 0.08098680 0.13438960
+v 0.00557734 0.06568735 0.12443270
+v 0.00246541 0.08072872 0.13464851
+v -0.00242009 0.08074730 0.13462580
+v -0.00378253 0.08279548 0.13481885
+v -0.00604294 0.08279549 0.13441912
+v 0.00246541 0.08279557 0.11177322
+v -0.00234612 0.06170456 0.11557056
+v 0.00644778 0.06170455 0.11657895
+v 0.00836070 0.08279553 0.12139619
+v 0.00608825 0.08279549 0.13445319
+v 0.00246541 0.08279548 0.13497329
+v 0.00067807 0.08279548 0.13496421
+v -0.00242009 0.08279548 0.13494149
+v 0.00696214 0.08279555 0.11680160
+v 0.00239144 0.06170456 0.11558419
+f 1 2 13
+f 1 13 26
+f 1 26 34
+f 1 34 27
+f 1 27 15
+f 1 15 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 9 14
+f 2 14 10
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+f 3 16 17
+f 3 17 18
+f 3 18 19
+f 3 19 20
+f 3 20 4
+f 4 20 21
+f 4 21 5
+f 5 21 22
+f 5 22 6
+f 6 22 23
+f 6 23 24
+f 6 24 7
+f 7 24 23
+f 7 23 32
+f 7 32 31
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+f 7 30 29
+f 7 29 18
+f 7 18 17
+f 7 17 16
+f 7 16 28
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+f 7 12 11
+f 7 11 10
+f 7 10 14
+f 7 14 9
+f 7 9 8
+f 12 25 13
+f 13 25 26
+f 15 27 16
+f 16 27 28
+f 18 29 19
+f 19 29 30
+f 19 30 21
+f 19 21 20
+f 21 30 31
+f 21 31 22
+f 22 31 32
+f 22 32 23
+f 25 33 27
+f 25 27 34
+f 25 34 26
+f 27 33 28
+
diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_6.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d9c53f5514fe39b30112ec663fa98510c1526cb
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_6.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.01019194 0.08569359 0.01728444
+v -0.01019194 0.08566915 0.01728444
+v -0.01012678 0.08933225 0.01728446
+v -0.01014850 0.08881904 0.01236329
+v -0.01015442 0.08870683 0.00740257
+v -0.00995695 0.08787165 -0.06354290
+v -0.00730687 0.08399739 0.00740255
+v -0.00730687 0.08394758 0.01728444
+v -0.00995695 0.08604508 -0.06354290
+v -0.00812243 0.08489194 -0.06354291
+v -0.00730687 0.08438053 -0.06354291
+v -0.00975553 0.09133622 0.01728447
+v -0.00971208 0.08862563 -0.06354289
+v -0.00973973 0.09132174 0.01502168
+v -0.00392218 0.08349259 -0.06354291
+v -0.00241942 0.08310158 -0.06354291
+v -0.00245694 0.08300081 0.01728443
+v -0.00241942 0.08300545 -0.01243244
+v -0.00241942 0.08299637 -0.00747172
+v -0.00241942 0.08299273 -0.00251891
+v -0.00241942 0.08299181 0.00244182
+v -0.00828238 0.09153988 0.01728447
+v -0.00723973 0.09168652 0.01236330
+v -0.00669865 0.09176917 -0.06354288
+v -0.00914139 0.09032276 -0.06354289
+v 0.00246606 0.08308528 -0.06354291
+v -0.00241942 0.08299357 0.01728443
+v 0.00246606 0.08298099 -0.00747172
+v 0.00246606 0.08297373 -0.00251891
+v 0.00246606 0.08297371 0.00244182
+v -0.00791903 0.09158966 0.01728447
+v -0.00775710 0.09160958 0.01728447
+v -0.00241942 0.09204767 0.01236330
+v -0.00241942 0.09221088 -0.06354288
+v -0.00537558 0.09190585 -0.06354288
+v 0.00735351 0.08456337 -0.06354291
+v 0.00735351 0.08442012 0.00244183
+v 0.00246606 0.08307051 0.01728444
+v 0.00246606 0.08298636 0.00740254
+v 0.00246606 0.08300354 0.01236326
+v 0.00735351 0.08441555 0.01236327
+v -0.00241942 0.09200331 0.01728447
+v 0.00246606 0.09205853 0.01236330
+v 0.00246606 0.09221992 -0.06354288
+v 0.00910904 0.08572738 -0.06354291
+v 0.00998187 0.08608371 0.01728445
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_7.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13fd570b8b9a037bb367cee5218e0b75189fb024
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_7.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_8.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6921974e5ca4c2008a4898ac30c25c65ea5436c0
--- /dev/null
+++ b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_8.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_9.obj b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/lamp_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33f75b495c68ff5781c3bc26274a555c8b66bb4c
--- /dev/null
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/mjcf/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/textures/material_0.png b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/textures/material_0.png
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diff --git a/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/video.mp4 b/dataset/bedroom_supplies/lighting_fixtures/bdb512d3766b5bcc89c253c2bf391419/video.mp4
new file mode 100644
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