diff --git a/.gitattributes b/.gitattributes
index af91bb34f38adc569ff6236547830978a3fa1c13..9a778275a70b040b9738df6b81533d7e3bdd0932 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2883,3 +2883,5 @@ dataset/desktop_supplies/decorations/43f2f23186ea5518a5826169d1dfd10c/mesh/mouse
 dataset/desktop_supplies/decorations/43f2f23186ea5518a5826169d1dfd10c/mesh/mouse_pad_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mesh/vase_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/vase_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mesh/phone_stand_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/phone_stand_005.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mesh/material.mtl b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7753e0b97ba879c1b6906ddeda5f2f563fb2724b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl phone_stand_005_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd phone_stand_005_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mesh/material_0.png b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..129a3d337d09c86ef73d4314daf3be60b38b8395
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3d1d98a8a773b67027d1a0420da83eca8674d54ec6bfe3b39a3a6d83cce89d8
+size 9382379
diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mesh/phone_stand_005.glb b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mesh/phone_stand_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..87c1853a43630db82a6ce3b988b95a90ae1fb614
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mesh/phone_stand_005.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e976c84903e92e560cdb2823dcbd94f7e2ae59f6bf039be6395c7ea054c0342
+size 12848416
diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mesh/phone_stand_005.mtl b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mesh/phone_stand_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..20fe584ac4d76c7f31407796f1390f957b79cf38
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mesh/phone_stand_005.mtl
@@ -0,0 +1,6 @@
+newmtl phone_stand_005_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mesh/phone_stand_005.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mesh/phone_stand_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b57850b3e82f216be403cf6bcc35fead27344d31
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mesh/phone_stand_005.obj
@@ -0,0 +1,113640 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl phone_stand_005_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mesh/phone_stand_005_collision.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mesh/phone_stand_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45d8960a36ba8622ac17055e9f2c07184cb1bd2b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mesh/phone_stand_005_collision.obj
@@ -0,0 +1,10736 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mesh/phone_stand_005_geometry_Looks_material_0.png b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mesh/phone_stand_005_geometry_Looks_material_0.png
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9382379
diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..129a3d337d09c86ef73d4314daf3be60b38b8395
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+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3d1d98a8a773b67027d1a0420da83eca8674d54ec6bfe3b39a3a6d83cce89d8
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005.obj
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index 0000000000000000000000000000000000000000..2177e0227d653f84e5a3ab0fabbb82b47e681fd9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4479a4bacdf663d7cc8a620e91a74193457958a9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision.obj
@@ -0,0 +1,10736 @@
+# https://github.com/mikedh/trimesh
+
+o phone_stand_005_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_0.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c3b8094de333fd92cb4d2350b0b7afa34fddd0d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_1.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89ccaf19e3bb9b23c31027d19b05c863e41bd208
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_1.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_10.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13fa5d6f2d96326a354e5a491bd8f40b01be1ba9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_10.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_11.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7125e990ed665cecf874ab9cc592053721f379cb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_11.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_12.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c108472f775b37a6101a59802122b3a373c79b20
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_12.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_13.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d86d48107e8349e2ac4eb84df967ab41ed0e02b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_13.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_14.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bdc0ceea731a468338086553bf33f9f6091ac11
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_14.obj
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_15.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00791a30c12f72103d997534e4cbcbdcfa50f317
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_15.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_16.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5714071f37ab71e424c0828e05c48f1d6fbe178
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_16.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_17.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a939b63cc87ef3daa1211b814d663ae378ff298
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_17.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_18.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..341ae9880fc011e5fff2147b3381991ac56e5680
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_18.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_19.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7456beea5d47d073f637ba3574643d3788fff95
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_19.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_2.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2508ce3ee740ca211a1759c22e0800a27a3d8652
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_2.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_20.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21defcef20aeb7856f8131e0cf2be8f8aebddc3c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_20.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_21.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70306c6cf6982d60aea56c0fa9201089c297a851
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_21.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_22.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65df6006d601a70ad2e8798c1ab0429d139695c5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_22.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_23.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78fcd7f54f2b4c217563011d81be6ced10d17250
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_23.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_24.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f07ce402781d3faf095c2e17776796903607a4f0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_24.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_25.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..429f733136187174213edb1154c4b1eda1e3ddd5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_25.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_26.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..851edc32a30ef913620d44cbe4a81d4e19a5b7a5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_26.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_27.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4ac579eaf2f6413a894860e791442d07bbfa96e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_27.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.01893361 -0.02869212 -0.02612954
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_28.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ae4acf8a2e3e2e3c63b02c63edfb6cb74c160ee
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_28.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_29.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..050fcc503e8c503495fb006d9f3e861347b8f8dc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_29.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_3.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bb336b949b16543fee28d34704423939988ea4d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_3.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_30.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e26b1031e98b00031622f098bfc12b05368b2a05
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_30.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_31.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89f5b6fa6f5fc493217544799a33ae7ee97a4f8b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_31.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_32.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a212f759443a41e4fdc1e42e31475f5ababc77f0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_32.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_33.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bf6981454800f42081ced542f863ee9d814478c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_33.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_34.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15737ef072e56042738a69e72fd8c6a27a055bd9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_34.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01454551 0.00358787 0.01718317
+v 0.01454551 0.00358789 0.01119280
+v 0.01156496 0.00358787 0.01716739
+v 0.01454551 -0.01277896 0.01718129
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+
diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_35.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93e63ed21434176ed012f1b812b7703327d42615
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_35.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v 0.01898329 -0.02100166 0.01738732
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_36.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5db70b5c8321432dd9772079269cebc047f5050e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_36.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.02050927 -0.01277896 0.01732482
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+
diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_37.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d04e490c95cc3c6e57dfd4305b67812ade1c032f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_37.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.01541663 -0.02253964 0.01731568
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_38.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a197452c658ae37287021bd5396dd2759bc2ab2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_38.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_39.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f9e5f0b69b7b114d05e74a82f4d6c7c3e40e947
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_39.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_4.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ca8a359c02bae127bda84ea68e11010590167b1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_4.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_40.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1475cbbbf0869d6a6b9b762091d4759c420ff328
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_40.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_41.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bacbad7da53813ada03a8506d91043bc121877b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_41.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_5.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55490102165760625e398648a0dbdfcda1b632ed
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_5.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_6.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..748b9efc355ca95be48afa3a80fbfc45f5b8508f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_6.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_7.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80276e348d4042b8e7cf415eaaa603c2dca85859
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_7.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_8.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..281953d4073ed9ef78c2106e9940d07f498d990e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_8.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_9.obj b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3133a1f69ba5124354a968aabca40f04421eec4a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/mesh/phone_stand_005_collision_9.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/phone_stand_005.xml b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/phone_stand_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cd432933297390b189c144dab074c02aa1aecfde
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mjcf/phone_stand_005.xml
@@ -0,0 +1,98 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="phone_stand_005">
+  <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/phone_stand_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/phone_stand_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/phone_stand_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/phone_stand_005_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/phone_stand_005_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/phone_stand_005_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/phone_stand_005_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/phone_stand_005_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/phone_stand_005_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/phone_stand_005_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/phone_stand_005_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/phone_stand_005_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/phone_stand_005_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/phone_stand_005_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/phone_stand_005_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/phone_stand_005_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/phone_stand_005_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/phone_stand_005_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/phone_stand_005_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/phone_stand_005_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/phone_stand_005_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/phone_stand_005_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/phone_stand_005_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/phone_stand_005_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/phone_stand_005_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/phone_stand_005_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/phone_stand_005_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/phone_stand_005_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/phone_stand_005_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/phone_stand_005_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/phone_stand_005_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/phone_stand_005_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/phone_stand_005_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/phone_stand_005_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/phone_stand_005_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/phone_stand_005_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/phone_stand_005_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/phone_stand_005_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/phone_stand_005_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/phone_stand_005_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/phone_stand_005_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/phone_stand_005_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/phone_stand_005_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="phone_stand_005">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/phone_stand_005.urdf b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/phone_stand_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d5841e6a07adecb43bdcb56576a491b12edbcfec
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/phone_stand_005.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="phone_stand_005">
+   <link name="phone_stand_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/phone_stand_005.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/phone_stand_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</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>1.000000</scale>
+         <uuid>4499c8358b815fc88f1017ed0bdee39a</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>decorations</super_category>
+         <category>phone_stand</category>
+         <name>pipe frame stand</name>
+         <color>black</color>
+         <shape>L-shape</shape>
+         <material>plastic</material>
+         <description>black pipe-structured stand with a flat platform and backrest support</description>
+         <min_height>0.0936</min_height>
+         <max_height>0.0936</max_height>
+         <real_height>0.0936</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420200518</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Object is a rocking chair, not a phone stand; seat/back and frame are segmented plausibly but category mismatch is unsupported by merging.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/phone_stand_005.usd b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/phone_stand_005.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/phone_stand_005.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6a18e99c9c6a446656d9eecd7616335b5d77ace996238806a4c25614aed5a73
+size 4980401
diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/textures/material_0.png b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/textures/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/textures/material_0.png
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diff --git a/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/video.mp4 b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/video.mp4
@@ -0,0 +1,3 @@
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+oid sha256:c39bd43ec54e3ff67ab89307ec70a78556c978c36c43a8b5a73220a993a6d105
+size 295191