diff --git a/.gitattributes b/.gitattributes
index c116fbe541bdfeca0ac9577d68f050986c26da44..7067fa5fa3254cbca7ac26cdf1cad15a8989fc99 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2906,4 +2906,4 @@ dataset/desktop_supplies/decorations/751e9255275657fc8b94db3559a4b9de/mesh/glass
 dataset/desktop_supplies/decorations/792fd01039ab5105a7ec70a33a4457a5/792fd01039ab5105a7ec70a33a4457a5.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/792fd01039ab5105a7ec70a33a4457a5/mesh/chess_pawn.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/792fd01039ab5105a7ec70a33a4457a5/mesh/chess_pawn_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/79ace9036ba95bb9ab392319288b8d24.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/7b870f00b34f52b285eae97cc4ca49b4.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/7b870f00b34f52b285eae97cc4ca49b4.urdf b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/7b870f00b34f52b285eae97cc4ca49b4.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cf6f8d7a554420ac3958d3ab04d3f6bd4928eaaa
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/7b870f00b34f52b285eae97cc4ca49b4.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toy_soldier">
+   <link name="toy_soldier">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/toy_soldier.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/toy_soldier_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>0.125000</scale>
+         <version>v0.1.5</version>
+         <category>toy soldier</category>
+         <description>green plastic soldier holding rifle, wearing helmet and military gear</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <generate_time>20251006075523</generate_time>
+         <gs_model>mesh/toy_soldier_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.652113914489746</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>8</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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/7b870f00b34f52b285eae97cc4ca49b4.usd b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/7b870f00b34f52b285eae97cc4ca49b4.usd
new file mode 100644
index 0000000000000000000000000000000000000000..410f563f224bd4a9208a3119c2fd32e145e4e3f6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/7b870f00b34f52b285eae97cc4ca49b4.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abc495ab58b4085de0da06bcc36dd6b0323a427bcbe14fb23044e0918b79d32b
+size 504751
diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mesh/material.mtl b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/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/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mesh/material_0.png b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..587812b36e6e5f0aa56977bdd5a799c3530feac5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:177d3671903526b5d5187b9c9aeb01e1d484a5a3dbb0f8e778fe6fd3b06e6c55
+size 2112121
diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mesh/toy_soldier.glb b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mesh/toy_soldier.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2639712339c381c0d34c870934057b38519485a7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mesh/toy_soldier.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4df933ee2ad44abad0de3e028583bc31c366ce07620eb87d6e65af68a81899bc
+size 2468248
diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mesh/toy_soldier.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mesh/toy_soldier.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59a9265cacf6289ca4da09aaef27cc3908199dea
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mesh/toy_soldier.obj
@@ -0,0 +1,32692 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mesh/toy_soldier_collision.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mesh/toy_soldier_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b58255aba564563685c959f870aef7a5ca7348a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mesh/toy_soldier_collision.obj
@@ -0,0 +1,7985 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mesh/toy_soldier_gs.ply b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mesh/toy_soldier_gs.ply
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--- /dev/null
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diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/7b870f00b34f52b285eae97cc4ca49b4.xml b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/7b870f00b34f52b285eae97cc4ca49b4.xml
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index 0000000000000000000000000000000000000000..77ebd05b135ce7607d6bf5ffc7f387cbac25582f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/7b870f00b34f52b285eae97cc4ca49b4.xml
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+    <mesh name="collision_mesh_0_12" file="mesh/toy_soldier_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/toy_soldier_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/toy_soldier_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/toy_soldier_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/toy_soldier_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/toy_soldier_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/toy_soldier_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/toy_soldier_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/toy_soldier_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/toy_soldier_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/toy_soldier_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/toy_soldier_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/toy_soldier_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/toy_soldier_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/toy_soldier_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/toy_soldier_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/toy_soldier_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/toy_soldier_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toy_soldier">
+      <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" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..587812b36e6e5f0aa56977bdd5a799c3530feac5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:177d3671903526b5d5187b9c9aeb01e1d484a5a3dbb0f8e778fe6fd3b06e6c55
+size 2112121
diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47742398a8edac54b19f7a73a4f61c56eb2d26e8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier.obj
@@ -0,0 +1,32692 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87ae484560cb56db495ed7984ca1c508fc9bfc18
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision.obj
@@ -0,0 +1,7985 @@
+# https://github.com/mikedh/trimesh
+
+o toy_soldier_collision.obj
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+
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diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_0.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42ae32514fc07383af589f73c3679e4af3890130
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_1.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12569ad7c6db451ea49acb98ccd3da68399d330b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_1.obj
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+f 129 132 131
+f 129 131 139
+f 130 133 139
+f 130 139 131
+f 132 138 135
+f 133 134 139
+f 134 136 139
+f 136 137 139
+
diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_10.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f85bac4565cbf9e8b419b2ee820893f01aa5b7c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_10.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.02157337 0.01480242 0.01273524
+v -0.02149769 0.01480242 0.01260913
+v -0.02257378 0.01402927 0.01241096
+v -0.02260689 0.01407268 0.01273524
+v -0.00484082 0.01480242 0.01273524
+v -0.01717443 0.01480244 0.00732267
+v -0.02279846 0.01299450 0.01214921
+v -0.02299948 0.01299449 0.01273524
+v -0.02278190 0.01371015 0.01273524
+v -0.01942356 0.01252991 0.00732267
+v -0.02055405 0.01095780 0.00732266
+v -0.02141019 0.00914283 0.00732265
+v -0.00446478 0.01452789 0.01273524
+v -0.00698589 0.01480244 0.00732267
+v -0.02307989 0.01095779 0.01183128
+v -0.02325491 0.01208290 0.01273523
+v -0.02186427 0.00688555 0.00732265
+v -0.02348904 0.01095778 0.01273523
+v -0.00412421 0.01412430 0.01230658
+v -0.00410529 0.01414894 0.01273524
+v -0.00598785 0.01397297 0.00732267
+v -0.02187373 0.00683628 0.00732265
+v -0.02355999 0.00892107 0.01273522
+v -0.02206293 0.00484884 0.00732264
+v -0.00026449 0.00565954 0.00732264
+v -0.00359681 0.01299449 0.01273524
+v 0.00019433 0.00464118 0.00732264
+v -0.02332822 0.00688553 0.01273522
+v -0.02201090 0.00281800 0.00732263
+v -0.00215415 0.00878732 0.01273522
+v -0.00002799 0.00405926 0.01047903
+v 0.00010918 0.00439950 0.00933559
+v 0.00059401 0.00285554 0.00732263
+v -0.02281028 0.00281798 0.01273520
+v 0.00059874 0.00281800 0.00732263
+v -0.00162438 0.00619333 0.01273521
+v 0.00000512 0.00281799 0.01051188
+v 0.00036934 0.00281800 0.00933558
+v -0.00168587 0.00281798 0.01273520
+v -0.00159127 0.00407919 0.01273520
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 16
+f 1 16 18
+f 1 18 23
+f 1 23 28
+f 1 28 34
+f 1 34 39
+f 1 39 40
+f 1 40 36
+f 1 36 30
+f 1 30 26
+f 1 26 20
+f 1 20 13
+f 1 13 5
+f 1 5 14
+f 1 14 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 3 6 10
+f 3 10 11
+f 3 11 12
+f 3 12 7
+f 5 13 14
+f 6 14 21
+f 6 21 25
+f 6 25 27
+f 6 27 33
+f 6 33 35
+f 6 35 29
+f 6 29 24
+f 6 24 22
+f 6 22 17
+f 6 17 12
+f 6 12 11
+f 6 11 10
+f 7 15 16
+f 7 16 8
+f 7 12 15
+f 12 17 18
+f 12 18 15
+f 13 19 14
+f 13 20 19
+f 14 19 21
+f 15 18 16
+f 17 22 18
+f 18 22 24
+f 18 24 23
+f 19 20 25
+f 19 25 21
+f 20 26 27
+f 20 27 25
+f 23 24 29
+f 23 29 28
+f 26 30 31
+f 26 31 32
+f 26 32 27
+f 27 32 33
+f 28 29 34
+f 29 35 38
+f 29 38 37
+f 29 37 39
+f 29 39 34
+f 30 36 31
+f 31 37 38
+f 31 38 32
+f 31 36 37
+f 32 38 33
+f 33 38 35
+f 36 40 37
+f 37 40 39
+
diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_11.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30ba3714f591113cf9508a53287124e4d6c3e7e1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_11.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.02280931 0.00281798 0.01273520
+v -0.02211422 0.00281800 0.00866993
+v -0.02283585 0.00274553 0.01273520
+v -0.00168400 0.00281798 0.01273520
+v -0.02211422 0.00280995 0.00866993
+v -0.02376746 -0.00126312 0.01273519
+v -0.02369023 -0.00038573 0.01273519
+v -0.02324374 0.00159311 0.01273520
+v 0.00006578 0.00281800 0.00866993
+v -0.00168642 0.00280456 0.01273520
+v 0.00088878 -0.00126310 0.00901575
+v 0.00000544 0.00280994 0.01051253
+v 0.00000544 0.00281799 0.01051253
+v -0.02176185 0.00077342 0.00866992
+v -0.02325580 -0.00329964 0.01182860
+v -0.02376505 -0.00329965 0.01273518
+v 0.00036988 0.00281800 0.00933533
+v 0.00044711 0.00281263 0.00866993
+v -0.00182881 0.00221024 0.01273520
+v 0.00088637 -0.00266238 0.00866991
+v 0.00088878 -0.00096259 0.00866992
+v 0.00088878 0.00054401 0.00913873
+v -0.02133225 -0.00126310 0.00866992
+v -0.02300963 -0.00533482 0.01200489
+v -0.02332097 -0.00533483 0.01273517
+v 0.00066915 0.00217404 0.00866993
+v -0.00346034 -0.00438231 0.01273517
+v -0.00621654 -0.00841645 0.01273516
+v -0.00623585 -0.00840170 0.01241280
+v -0.01028811 -0.01088764 0.01215968
+v -0.00932995 -0.00818836 0.00866989
+v -0.00375478 -0.00533483 0.01273517
+v -0.00398165 -0.00604856 0.01273517
+v -0.00416266 -0.00641347 0.01273517
+v -0.00590279 -0.00811862 0.01273516
+v 0.00088878 0.00076135 0.00866992
+v -0.02089782 -0.00278983 0.00866991
+v -0.02270311 -0.00649128 0.01227272
+v -0.02276345 -0.00655299 0.01273517
+v -0.01014330 -0.01088765 0.01273515
+v -0.01117627 -0.01088764 0.01142861
+v -0.01003952 -0.00857206 0.00866989
+v -0.02044408 -0.00349550 0.00866991
+v -0.01923251 -0.00532676 0.00866990
+v -0.01735964 -0.00733512 0.00866989
+v -0.01750204 -0.01088764 0.01142224
+v -0.01823574 -0.01088765 0.01273515
+v -0.01338462 -0.01088764 0.01064620
+v -0.01134522 -0.00911808 0.00866989
+v -0.01060186 -0.00881086 0.00866989
+v -0.01531058 -0.00882696 0.00866989
+v -0.01338944 -0.00938908 0.00866989
+v -0.01542402 -0.01088764 0.01086787
+f 1 2 3
+f 1 3 8
+f 1 8 7
+f 1 7 6
+f 1 6 16
+f 1 16 25
+f 1 25 39
+f 1 39 47
+f 1 47 40
+f 1 40 28
+f 1 28 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 27
+f 1 27 19
+f 1 19 10
+f 1 10 4
+f 1 4 13
+f 1 13 17
+f 1 17 9
+f 1 9 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 9 18
+f 2 18 26
+f 2 26 36
+f 2 36 21
+f 2 21 20
+f 2 20 31
+f 2 31 42
+f 2 42 50
+f 2 50 49
+f 2 49 52
+f 2 52 51
+f 2 51 45
+f 2 45 44
+f 2 44 43
+f 2 43 37
+f 2 37 23
+f 2 23 14
+f 2 14 5
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 9 17 18
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 36
+f 11 36 22
+f 11 22 12
+f 12 22 13
+f 13 22 17
+f 14 23 24
+f 14 24 15
+f 15 24 16
+f 16 24 25
+f 17 22 26
+f 17 26 18
+f 19 27 20
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 27 32
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 28
+f 22 36 26
+f 23 37 24
+f 24 38 25
+f 24 37 38
+f 25 38 39
+f 28 40 29
+f 29 40 30
+f 30 40 47
+f 30 47 46
+f 30 46 53
+f 30 53 48
+f 30 48 41
+f 30 41 42
+f 30 42 31
+f 37 43 38
+f 38 43 44
+f 38 44 45
+f 38 45 46
+f 38 46 47
+f 38 47 39
+f 41 48 49
+f 41 49 50
+f 41 50 42
+f 45 51 46
+f 46 51 52
+f 46 52 53
+f 48 53 52
+f 48 52 49
+
diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_12.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..317889fb787cee4f876f612ee1fd5389a5730175
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_12.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.01913884 0.02011187 0.01273526
+v -0.01884071 0.02011188 0.01139688
+v -0.02157458 0.01480411 0.01273524
+v -0.00963337 0.02011187 0.01273526
+v -0.01853768 0.02011188 0.01023521
+v -0.01789721 0.02011189 0.00913442
+v -0.02149759 0.01480411 0.01260908
+v -0.00484214 0.01480411 0.01273524
+v -0.00948594 0.02011189 0.00866999
+v -0.01754340 0.02011189 0.00866999
+v -0.02066875 0.01480412 0.01187403
+v -0.00489947 0.01480411 0.01261783
+v -0.00521233 0.01480412 0.01198745
+v -0.00766446 0.01480413 0.00866997
+v -0.01685543 0.01480413 0.00866997
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 10
+f 1 10 6
+f 1 6 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 11
+f 3 11 15
+f 3 15 14
+f 3 14 13
+f 3 13 12
+f 3 12 8
+f 4 8 9
+f 6 10 7
+f 7 10 11
+f 8 12 9
+f 9 12 13
+f 9 13 14
+f 9 14 15
+f 9 15 10
+f 10 15 11
+
diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_13.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62e8b85ba4370d8bfa804b4dda361a4013adebdd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_13.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.02331845 -0.02570242 -0.01306311
+v 0.02460960 -0.02570242 -0.01256763
+v 0.02436360 -0.02676966 -0.01234642
+v 0.02331845 -0.02721208 -0.01259795
+v 0.02168822 -0.02732766 -0.01265856
+v 0.02134383 -0.02570242 -0.01281007
+v 0.02331845 -0.02366545 -0.01280552
+v 0.02460694 -0.02366545 -0.01255399
+v 0.02525584 -0.02570243 -0.01128271
+v 0.02556167 -0.02366546 -0.01128271
+v 0.02631163 -0.02366546 -0.00998416
+v 0.02434366 -0.02876510 -0.01026601
+v 0.02331845 -0.02823058 -0.01176002
+v 0.02170418 -0.02912626 -0.01087514
+v 0.02101672 -0.02799763 -0.01156153
+v 0.01784536 -0.02509206 -0.01056904
+v 0.02032394 -0.02570242 -0.01225852
+v 0.02175870 -0.02366545 -0.01256612
+v 0.01749564 -0.02366546 -0.01065844
+v 0.01294803 -0.01959515 -0.00804616
+v 0.01294803 -0.01734330 -0.00794311
+v 0.02224138 -0.02262530 -0.01233428
+v 0.02331845 -0.02261988 -0.01233882
+v 0.02435961 -0.02263433 -0.01232821
+v 0.02653236 -0.02504693 -0.00868258
+v 0.02485028 -0.02236888 -0.01128270
+v 0.02641402 -0.02260907 -0.00871590
+v 0.02652039 -0.02366547 -0.00895380
+v 0.02507101 -0.02773940 -0.00922201
+v 0.02448461 -0.02889694 -0.00922202
+v 0.02331845 -0.02944771 -0.00922202
+v 0.02331845 -0.02903958 -0.01072967
+v 0.02112576 -0.02920393 -0.00907656
+v 0.02034388 -0.02866759 -0.00966750
+v 0.01980535 -0.02730961 -0.01087210
+v 0.01410222 -0.02269033 -0.00822800
+v 0.01385489 -0.02162851 -0.00832952
+v 0.01294803 -0.01552123 -0.00755976
+v 0.01294803 -0.02170977 -0.00739613
+v 0.01294803 -0.01537134 -0.00750369
+v 0.01294803 -0.01355109 -0.00667788
+v 0.01294803 -0.01339579 -0.00659303
+v 0.01294803 -0.01203239 -0.00500960
+v 0.02653236 -0.02504693 -0.00759161
+v 0.02508829 -0.02793804 -0.00696583
+v 0.01294803 -0.01112407 -0.00303677
+v 0.02641402 -0.02260907 -0.00811738
+v 0.01294803 -0.01100128 -0.00257311
+v 0.02652039 -0.02366547 -0.00768707
+v 0.02452848 -0.02893666 -0.00752344
+v 0.02331845 -0.02916600 -0.00723858
+v 0.02127867 -0.02904140 -0.00772194
+v 0.02024549 -0.02876872 -0.00816893
+v 0.02024549 -0.02876872 -0.00829318
+v 0.01294803 -0.02311832 -0.00487176
+v 0.01294803 -0.02307859 -0.00501570
+v 0.01375118 -0.02300093 -0.00715976
+v 0.01294803 -0.02191383 -0.00723855
+v 0.02617201 -0.02571689 -0.00700673
+v 0.02596856 -0.02366548 -0.00665519
+v 0.02486756 -0.02739089 -0.00577031
+v 0.01294803 -0.01252541 0.00185288
+v 0.01429769 -0.01437999 0.00219835
+v 0.02331845 -0.02868928 -0.00620671
+v 0.02127867 -0.02842924 -0.00669005
+v 0.01615397 -0.02469662 -0.00405202
+v 0.01294803 -0.02292150 -0.00365957
+v 0.02521196 -0.02570245 -0.00558847
+v 0.02331845 -0.02767079 -0.00555515
+v 0.01431099 -0.01664268 0.00217561
+v 0.01294803 -0.01355292 0.00241503
+v 0.01438412 -0.01552127 0.00222107
+v 0.01367804 -0.01664268 0.00217561
+v 0.01294803 -0.02004664 -0.00029271
+v 0.01312355 -0.02135947 -0.00131399
+v 0.01294803 -0.02133419 -0.00132308
+v 0.01312355 -0.02237794 -0.00255800
+v 0.01294803 -0.02233460 -0.00262012
+v 0.01312355 -0.02297206 -0.00358987
+v 0.01294803 -0.01566573 0.00235895
+v 0.01294803 -0.01653975 0.00212864
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 10
+f 2 10 11
+f 2 11 9
+f 3 9 12
+f 3 12 13
+f 3 13 4
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 18 7
+f 6 17 19
+f 6 19 20
+f 6 20 21
+f 6 21 18
+f 7 18 22
+f 7 22 23
+f 7 23 24
+f 7 24 8
+f 8 24 10
+f 9 11 25
+f 9 25 12
+f 10 24 26
+f 10 26 11
+f 11 26 27
+f 11 27 28
+f 11 28 25
+f 12 29 30
+f 12 30 31
+f 12 31 32
+f 12 32 13
+f 12 25 29
+f 13 32 14
+f 14 32 31
+f 14 31 33
+f 14 33 34
+f 14 34 15
+f 15 35 16
+f 15 34 35
+f 16 35 36
+f 16 36 37
+f 16 37 19
+f 16 19 17
+f 18 21 38
+f 18 38 22
+f 19 37 20
+f 20 37 39
+f 20 39 58
+f 20 58 56
+f 20 56 55
+f 20 55 67
+f 20 67 78
+f 20 78 76
+f 20 76 74
+f 20 74 81
+f 20 81 80
+f 20 80 71
+f 20 71 62
+f 20 62 48
+f 20 48 46
+f 20 46 43
+f 20 43 42
+f 20 42 41
+f 20 41 40
+f 20 40 38
+f 20 38 21
+f 22 38 40
+f 22 40 41
+f 22 41 42
+f 22 42 23
+f 23 42 24
+f 24 42 43
+f 24 43 26
+f 25 44 45
+f 25 45 30
+f 25 30 29
+f 25 28 49
+f 25 49 44
+f 26 43 46
+f 26 46 27
+f 27 47 49
+f 27 49 28
+f 27 46 48
+f 27 48 47
+f 30 50 31
+f 30 45 50
+f 31 50 51
+f 31 51 52
+f 31 52 33
+f 33 52 53
+f 33 53 54
+f 33 54 34
+f 34 54 55
+f 34 55 56
+f 34 56 57
+f 34 57 35
+f 35 57 36
+f 36 57 58
+f 36 58 39
+f 36 39 37
+f 44 59 45
+f 44 49 60
+f 44 60 59
+f 45 61 50
+f 45 59 61
+f 47 60 49
+f 47 48 62
+f 47 62 63
+f 47 63 60
+f 50 64 51
+f 50 61 64
+f 51 64 52
+f 52 64 65
+f 52 65 66
+f 52 66 53
+f 53 66 67
+f 53 67 55
+f 53 55 54
+f 56 58 57
+f 59 60 68
+f 59 68 61
+f 60 63 68
+f 61 69 64
+f 61 68 70
+f 61 70 69
+f 62 71 63
+f 63 71 72
+f 63 72 68
+f 64 73 74
+f 64 74 75
+f 64 75 76
+f 64 76 66
+f 64 66 65
+f 64 69 70
+f 64 70 73
+f 66 77 78
+f 66 78 79
+f 66 79 67
+f 66 76 77
+f 67 79 78
+f 68 72 70
+f 70 72 80
+f 70 80 73
+f 71 80 72
+f 73 80 81
+f 73 81 74
+f 74 76 75
+f 76 78 77
+
diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_14.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd693b515261756509954bddfd449c199efea226
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_14.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.00292761 -0.00982345 -0.00922286
+v 0.00292761 -0.00939252 -0.00716091
+v 0.00088878 -0.00975522 -0.00716092
+v 0.00088878 -0.00979652 -0.00922286
+v 0.00292761 -0.00945086 -0.01128387
+v 0.00496644 -0.00915011 -0.01128387
+v 0.00496644 -0.00925785 -0.00922285
+v 0.00479681 -0.00869585 -0.00731358
+v 0.00400474 -0.00843012 -0.00607200
+v 0.00088878 -0.00902355 -0.00509161
+v 0.00088878 -0.00903699 -0.01143010
+v 0.00088878 -0.00892926 -0.01166187
+v 0.00136963 -0.00859169 -0.01256224
+v 0.00292761 -0.00874072 -0.01276825
+v 0.00496644 -0.00863388 -0.01264593
+v 0.00625339 -0.00860606 -0.01128387
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diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_15.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fab33fad559b65e88aa131f9a74e72bdd7e2f243
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_15.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_16.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a867618254438751d79a2b139614a44265014ce2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_16.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_17.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6e4ac2eb991caeee49299d345305eae41a3a760
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_17.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_18.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..919d88e0638d18efa1a3eb2ddb291a445332b871
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_18.obj
@@ -0,0 +1,268 @@
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+
diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_19.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bef8506da7cb84df48a9f1f5fa24773bd4de062
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_19.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_2.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61db6c99d29cd03c186077054d91cf63d958b06d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_2.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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+v -0.00115115 0.02206726 -0.06143395
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+
diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_20.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97d93b802d62509e4bb1e4366ad6709f1bd8f22d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_20.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_21.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3934456832c7266918a467cf013bb98991360c11
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_21.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_22.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ce87040fb84a44f6917898bbb027f92181a0ac7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_22.obj
@@ -0,0 +1,247 @@
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+
diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_23.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e90623cfea9e25b852ddabaace72be9b4ac4ba31
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_23.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.01487114 0.02011192 -0.00107136
+v -0.01473191 0.02011193 -0.00303761
+v -0.00669659 0.02011192 -0.00107136
+v -0.01465270 0.02041690 -0.00107136
+v -0.01276669 0.02272419 -0.01128299
+v -0.01270748 0.02266169 -0.01334434
+v -0.01435103 0.02011195 -0.00783857
+v -0.00669659 0.02712846 -0.00107133
+v -0.00669659 0.02011196 -0.01012087
+v -0.01461429 0.02046361 -0.00107135
+v -0.01168806 0.02374216 -0.01128298
+v -0.01163845 0.02367966 -0.01334433
+v -0.01273789 0.02262938 -0.00509895
+v -0.01067584 0.02469208 -0.00107134
+v -0.01254904 0.02243914 -0.01458618
+v -0.01399736 0.02011196 -0.00971951
+v -0.00714708 0.02701582 -0.00107133
+v -0.00669659 0.02693134 -0.00160415
+v -0.00879624 0.02396128 -0.01334433
+v -0.01005491 0.02426832 -0.01447290
+v -0.01047820 0.02426832 -0.01447290
+v -0.00768880 0.02011197 -0.01426594
+v -0.00754077 0.02114230 -0.01334434
+v -0.00798806 0.02264658 -0.01468687
+v -0.00669659 0.02107978 -0.00930975
+v -0.01366128 0.02149188 -0.00107135
+v -0.01272508 0.02257098 -0.00303760
+v -0.01061903 0.02433358 -0.01334433
+v -0.00944678 0.02552527 -0.00107134
+v -0.00717749 0.02699933 -0.00107133
+v -0.01123276 0.02314252 -0.01479734
+v -0.01141200 0.02011198 -0.01508405
+v -0.01254904 0.02169250 -0.01458618
+v -0.01319718 0.02011197 -0.01234164
+v -0.00669659 0.02572654 -0.00359279
+v -0.00779843 0.02294332 -0.01334434
+v -0.00934836 0.02326684 -0.01485748
+v -0.00792485 0.02011197 -0.01495958
+v -0.00860580 0.02011198 -0.01516376
+v -0.00930755 0.02011198 -0.01535675
+v -0.01271308 0.02011197 -0.01339330
+f 1 2 7
+f 1 7 16
+f 1 16 34
+f 1 34 41
+f 1 41 32
+f 1 32 40
+f 1 40 39
+f 1 39 38
+f 1 38 22
+f 1 22 9
+f 1 9 3
+f 1 3 8
+f 1 8 17
+f 1 17 30
+f 1 30 29
+f 1 29 14
+f 1 14 26
+f 1 26 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 9 25
+f 3 25 35
+f 3 35 18
+f 3 18 8
+f 4 10 5
+f 5 11 12
+f 5 12 6
+f 5 10 13
+f 5 13 14
+f 5 14 11
+f 6 12 15
+f 6 15 7
+f 7 15 16
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 17
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 10 26 27
+f 10 27 13
+f 11 28 12
+f 11 14 29
+f 11 29 30
+f 11 30 28
+f 12 28 21
+f 12 21 15
+f 13 27 14
+f 14 27 26
+f 15 21 31
+f 15 31 32
+f 15 32 33
+f 15 33 16
+f 16 33 34
+f 17 21 28
+f 17 28 30
+f 18 35 36
+f 18 36 24
+f 18 24 19
+f 19 24 20
+f 20 24 37
+f 20 37 21
+f 21 37 31
+f 22 38 24
+f 22 24 23
+f 24 36 25
+f 24 38 39
+f 24 39 40
+f 24 40 37
+f 25 36 35
+f 31 37 40
+f 31 40 32
+f 32 41 33
+f 33 41 34
+
diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_24.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4fe3492045c8ea915242f922315fea8aedb109f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_24.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.00402253 0.02011192 -0.00106997
+v 0.00411084 0.02011193 -0.00141639
+v 0.00399668 0.02021962 -0.00106997
+v -0.00669659 0.02011192 -0.00106997
+v 0.00430577 0.02011193 -0.00303687
+v 0.00421207 0.02065112 -0.00303686
+v 0.00407422 0.02043501 -0.00158029
+v 0.00364235 0.02097274 -0.00106996
+v -0.00669659 0.02712860 -0.00106994
+v -0.00669659 0.02011196 -0.01012129
+v 0.00416253 0.02011194 -0.00512871
+v 0.00414961 0.02047622 -0.00509857
+v 0.00354650 0.02166951 -0.00303686
+v 0.00356804 0.02109273 -0.00106996
+v -0.00669659 0.02693129 -0.00160330
+v -0.00523513 0.02749577 -0.00106994
+v -0.00479358 0.02644271 -0.00439685
+v 0.00088746 0.02011195 -0.00917150
+v -0.00669659 0.02107974 -0.00930971
+v -0.00115125 0.02258673 -0.00855395
+v 0.00088746 0.02249566 -0.00848307
+v 0.00088746 0.02114263 -0.00909441
+v 0.00399129 0.02011194 -0.00621316
+v 0.00399129 0.02020157 -0.00621316
+v 0.00193320 0.02218631 -0.00821728
+v 0.00341404 0.02149461 -0.00509857
+v 0.00239414 0.02256142 -0.00509857
+v 0.00252661 0.02260839 -0.00303686
+v 0.00250615 0.02256212 -0.00106996
+v 0.00352173 0.02116283 -0.00106996
+v -0.00669659 0.02572643 -0.00359326
+v -0.00615272 0.02612829 -0.00394410
+v -0.00514036 0.02749071 -0.00106994
+v -0.00369506 0.02644271 -0.00439685
+v 0.00215398 0.02114263 -0.00843168
+v 0.00220459 0.02011195 -0.00848043
+v -0.00010120 0.02421584 -0.00618036
+v 0.00211844 0.02236628 -0.00715940
+v 0.00104362 0.02357980 -0.00509856
+v 0.00015619 0.02442255 -0.00303685
+v -0.00129449 0.02557536 -0.00106995
+v 0.00017450 0.02444278 -0.00106995
+v 0.00022189 0.02440591 -0.00106995
+v 0.00125686 0.02357689 -0.00106995
+v 0.00245876 0.02260549 -0.00106996
+v -0.00301226 0.02676143 -0.00106994
+v -0.00333643 0.02663495 -0.00303684
+v -0.00231762 0.02616298 -0.00303684
+v 0.00002372 0.02431414 -0.00509856
+v -0.00115125 0.02537010 -0.00303685
+v -0.00220023 0.02621502 -0.00173709
+v -0.00132680 0.02559993 -0.00106995
+v -0.00298642 0.02674986 -0.00106994
+v -0.00294657 0.02672601 -0.00106994
+v -0.00139357 0.02564836 -0.00106995
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+f 1 3 8
+f 1 8 14
+f 1 14 30
+f 1 30 29
+f 1 29 45
+f 1 45 44
+f 1 44 43
+f 1 43 42
+f 1 42 41
+f 1 41 52
+f 1 52 55
+f 1 55 54
+f 1 54 53
+f 1 53 46
+f 1 46 33
+f 1 33 16
+f 1 16 9
+f 1 9 4
+f 1 4 10
+f 1 10 18
+f 1 18 36
+f 1 36 23
+f 1 23 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 15
+f 4 15 31
+f 4 31 19
+f 4 19 10
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 8
+f 9 16 17
+f 9 17 15
+f 10 19 20
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+f 10 22 18
+f 11 23 24
+f 11 24 12
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+f 12 26 13
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+f 15 17 32
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+f 16 33 34
+f 16 34 17
+f 17 34 20
+f 17 20 19
+f 17 19 32
+f 18 22 35
+f 18 35 36
+f 19 31 32
+f 20 34 21
+f 21 37 25
+f 21 25 22
+f 21 34 37
+f 22 25 35
+f 23 36 24
+f 24 36 35
+f 24 35 25
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+f 25 37 38
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+f 27 39 40
+f 27 40 28
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+f 28 41 42
+f 28 42 43
+f 28 43 44
+f 28 44 45
+f 28 45 29
+f 33 46 47
+f 33 47 34
+f 34 47 48
+f 34 48 37
+f 37 48 49
+f 37 49 39
+f 37 39 38
+f 39 49 50
+f 39 50 40
+f 40 50 51
+f 40 51 52
+f 40 52 41
+f 46 53 47
+f 47 53 48
+f 48 54 51
+f 48 51 50
+f 48 50 49
+f 48 53 54
+f 51 54 55
+f 51 55 52
+
diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_25.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc88046d0cfaceeafa6af4bfe27c87d00e35a90e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_25.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.01938141 -0.01088762 0.00490111
+v -0.01938141 -0.00506515 0.00866950
+v -0.01945686 -0.01088762 0.00487359
+v -0.01938141 -0.01088757 -0.00894132
+v -0.01938141 0.00281800 0.00866953
+v -0.02044661 -0.00349550 0.00866951
+v -0.02665507 -0.00434203 0.00420029
+v -0.02008710 -0.01088762 0.00450483
+v -0.01962108 -0.01088757 -0.00885876
+v -0.01938141 0.00077349 -0.01007326
+v -0.02211541 0.00281800 0.00866953
+v -0.01938141 0.00281807 -0.00999436
+v -0.02089858 -0.00278983 0.00866951
+v -0.02669871 -0.00329962 0.00425534
+v -0.02693838 -0.00329961 0.00314905
+v -0.02675123 -0.00448825 0.00314904
+v -0.02060417 -0.01054552 0.00430301
+v -0.02133353 -0.00126310 0.00866952
+v -0.02176331 0.00077342 0.00866952
+v -0.02211541 0.00280995 0.00866953
+v -0.02047176 -0.01088761 0.00314902
+v -0.01999094 -0.01088757 -0.00859824
+v -0.01938141 0.00168980 -0.01004940
+v -0.02055460 -0.01047302 -0.00822030
+v -0.02312365 -0.00329957 -0.00693969
+v -0.02204366 0.00281802 0.00314173
+v -0.02521928 0.00022339 0.00314906
+v -0.02623935 -0.00087268 0.00314906
+v -0.02670315 -0.00212707 0.00426085
+v -0.02301047 -0.00126304 -0.00687180
+v -0.02277820 0.00012146 -0.00654890
+v -0.02001239 0.00281806 -0.00902016
+v -0.02682595 -0.00189094 0.00314905
+v -0.02682447 -0.00191509 0.00174921
+v -0.02687847 -0.00329961 0.00163179
+v -0.02677269 -0.00451911 0.00183910
+v -0.02053093 -0.01088760 0.00108687
+v -0.02030236 -0.01088757 -0.00784237
+v -0.02287289 -0.00533476 -0.00657460
+v -0.02044365 -0.01088757 -0.00715988
+v -0.02065817 -0.01061791 -0.00715988
+v -0.02159909 0.00281805 -0.00510318
+v -0.02102211 0.00281806 -0.00729376
+v -0.02104134 0.00281806 -0.00722587
+v -0.02048433 -0.01088758 -0.00667002
+v -0.02061304 -0.01088758 -0.00509773
+v -0.02061008 -0.01088758 -0.00478217
+f 1 2 3
+f 1 3 8
+f 1 8 21
+f 1 21 37
+f 1 37 47
+f 1 47 46
+f 1 46 45
+f 1 45 40
+f 1 40 38
+f 1 38 22
+f 1 22 9
+f 1 9 4
+f 1 4 10
+f 1 10 23
+f 1 23 12
+f 1 12 5
+f 1 5 2
+f 2 5 11
+f 2 11 20
+f 2 20 19
+f 2 19 18
+f 2 18 13
+f 2 13 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 4 9 10
+f 5 12 32
+f 5 32 43
+f 5 43 44
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+f 5 42 26
+f 5 26 11
+f 6 13 7
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
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+f 7 20 14
+f 8 17 21
+f 9 22 10
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+f 11 26 27
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+f 12 23 25
+f 12 25 30
+f 12 30 31
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+f 14 29 15
+f 14 20 29
+f 15 33 34
+f 15 34 35
+f 15 35 36
+f 15 36 16
+f 15 29 33
+f 16 36 21
+f 16 21 17
+f 21 36 37
+f 22 38 24
+f 24 39 25
+f 24 38 40
+f 24 40 41
+f 24 41 36
+f 24 36 39
+f 25 39 36
+f 25 36 35
+f 25 35 30
+f 26 42 27
+f 27 42 28
+f 28 34 33
+f 28 33 29
+f 28 42 34
+f 30 35 34
+f 30 34 31
+f 31 43 32
+f 31 34 43
+f 34 42 44
+f 34 44 43
+f 36 41 40
+f 36 40 45
+f 36 45 46
+f 36 46 47
+f 36 47 37
+
diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_26.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26962a6ca7fc0e2fdcb6a0573eaca48e6d9ddf41
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_26.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.01938141 0.00077349 -0.01007254
+v -0.01938141 -0.01088757 -0.00894122
+v -0.01938141 0.00168980 -0.01004881
+v -0.01847358 -0.00345919 -0.01556092
+v -0.01845140 -0.00533472 -0.01556093
+v -0.01840862 -0.00574525 -0.01556093
+v -0.01782875 -0.00720892 -0.01556094
+v -0.01716173 -0.01088755 -0.01311087
+v -0.01938141 -0.01088762 0.00490067
+v -0.01938141 0.00184810 -0.01004170
+v -0.01842605 -0.00314660 -0.01556092
+v -0.01938141 0.00281807 -0.00999426
+v -0.01687338 -0.00880809 -0.01556094
+v -0.01679733 -0.00891810 -0.01556094
+v -0.01614141 -0.00986123 -0.01556095
+v -0.01536983 -0.01088754 -0.01556095
+v -0.01745801 -0.01088762 0.00561459
+v -0.01531121 -0.00882696 0.00866949
+v -0.01735978 -0.00733512 0.00866949
+v -0.01923248 -0.00532676 0.00866950
+v -0.01938141 -0.00506515 0.00866950
+v -0.01789371 -0.00126301 -0.01556091
+v -0.01883639 0.00281807 -0.01085048
+v -0.01938141 0.00281800 0.00866953
+v -0.00876943 -0.01088754 -0.01556095
+v -0.01340207 -0.01088763 0.00711832
+v -0.01338940 -0.00938908 0.00866949
+v -0.01684486 0.00061387 -0.01556091
+v -0.01817097 0.00281807 -0.01187748
+v -0.00319568 0.00281800 0.00866953
+v -0.00829571 -0.01057495 -0.01556095
+v -0.00660679 -0.01088756 -0.01055406
+v -0.01134083 -0.01088763 0.00711832
+v -0.01134400 -0.00911808 0.00866949
+v -0.01515911 0.00281809 -0.01512923
+v -0.01557422 0.00180251 -0.01556090
+v -0.01702865 0.00281808 -0.01332903
+v -0.00319568 0.00281806 -0.00821540
+v -0.00319568 -0.00322047 0.00866951
+v -0.00820540 -0.01051458 -0.01556095
+v -0.00613148 -0.01059376 -0.01037617
+v -0.00611881 -0.01088757 -0.00922110
+v -0.00930494 -0.01088762 0.00639254
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+v -0.01426554 0.00281809 -0.01556090
+v -0.01484066 0.00245318 -0.01556090
+v -0.00319568 0.00281136 -0.00974996
+v -0.00402271 0.00281807 -0.01050657
+v -0.00763503 -0.00699838 0.00866949
+v -0.00319568 -0.00324194 0.00866477
+v -0.00748135 -0.00940912 -0.01556094
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+v -0.00319568 -0.00753762 -0.01082206
+v -0.00319568 -0.00870750 -0.00935391
+v -0.00319568 -0.00917571 -0.00716710
+v -0.00319568 -0.00917705 -0.00715998
+v -0.00319568 -0.00959968 -0.00098380
+v -0.00590017 -0.01088757 -0.00715999
+v -0.01003849 -0.00857206 0.00866949
+v -0.00723419 -0.01088762 0.00549837
+v -0.00676364 0.00281809 -0.01556090
+v -0.00319568 -0.00137975 -0.01176365
+v -0.00595562 0.00281808 -0.01488494
+v -0.00932870 -0.00818836 0.00866949
+v -0.00319568 -0.00401201 0.00803861
+v -0.00687454 -0.01088762 0.00524221
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+v -0.00319568 -0.00533474 -0.01187751
+v -0.00617426 -0.00671521 -0.01556093
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+v -0.00590017 -0.00115300 -0.01556091
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+v -0.00319568 -0.00927904 0.00108681
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+v -0.00319568 -0.00342030 -0.01215263
+v -0.00319568 -0.00865522 0.00257630
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+v -0.00583679 -0.00533472 -0.01556093
+v -0.00563717 -0.00345114 -0.01556092
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+f 4 84 70
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+f 4 67 51
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+f 4 25 16
+f 4 16 15
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+f 4 6 5
+f 4 10 12
+f 4 12 11
+f 7 13 8
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+f 8 15 16
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+f 12 23 22
+f 12 24 30
+f 12 30 38
+f 12 38 48
+f 12 48 63
+f 12 63 61
+f 12 61 45
+f 12 45 35
+f 12 35 37
+f 12 37 29
+f 12 29 23
+f 17 26 18
+f 18 27 34
+f 18 34 44
+f 18 44 59
+f 18 59 64
+f 18 64 49
+f 18 49 39
+f 18 39 30
+f 18 30 24
+f 18 24 21
+f 18 21 20
+f 18 20 19
+f 18 26 27
+f 22 23 29
+f 22 29 28
+f 25 31 32
+f 26 33 27
+f 27 33 34
+f 28 35 36
+f 28 29 37
+f 28 37 35
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+f 30 90 89
+f 30 89 85
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+f 30 73 57
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+f 30 56 55
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+f 30 54 53
+f 30 53 52
+f 30 52 68
+f 30 68 83
+f 30 83 88
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+f 30 76 62
+f 30 62 47
+f 30 47 38
+f 31 40 32
+f 32 41 42
+f 32 40 41
+f 33 43 34
+f 34 43 44
+f 35 45 46
+f 35 46 36
+f 38 47 48
+f 39 49 50
+f 40 51 52
+f 40 52 53
+f 40 53 54
+f 40 54 41
+f 41 54 42
+f 42 54 55
+f 42 55 56
+f 42 56 57
+f 42 57 58
+f 43 59 44
+f 43 60 59
+f 47 62 63
+f 47 63 48
+f 49 64 60
+f 49 60 50
+f 50 60 66
+f 50 66 65
+f 51 67 52
+f 52 67 69
+f 52 69 70
+f 52 70 68
+f 57 71 72
+f 57 72 58
+f 57 73 74
+f 57 74 71
+f 59 60 64
+f 61 63 75
+f 62 76 63
+f 63 77 78
+f 63 78 75
+f 63 76 79
+f 63 79 77
+f 65 66 80
+f 66 81 82
+f 66 82 80
+f 68 70 83
+f 70 84 83
+f 73 85 86
+f 73 86 74
+f 77 79 87
+f 79 88 87
+f 81 86 85
+f 81 85 89
+f 81 89 90
+f 81 90 91
+f 81 91 82
+f 83 84 92
+f 83 92 93
+f 83 93 88
+f 87 88 93
+
diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_27.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d093ddd0f8f2688915ac1ae269f95e675ed18130
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_27.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.02059814 -0.01088759 -0.00407503
+v -0.02032818 -0.01123183 -0.00407503
+v -0.01990758 -0.01171616 -0.00076255
+v -0.02055190 -0.01088760 -0.00076255
+v -0.00570559 -0.01088759 -0.00407503
+v -0.02026703 -0.01130893 -0.00407503
+v -0.01991802 -0.01173570 -0.00303615
+v -0.01890082 -0.01290307 -0.00407504
+v -0.01889784 -0.01288786 -0.00303616
+v -0.01888889 -0.01283249 -0.00076256
+v -0.00563847 -0.01088760 -0.00076255
+v -0.00564891 -0.01088759 -0.00303615
+v -0.00536106 -0.01567869 -0.00293566
+v -0.00536106 -0.01668642 -0.00398200
+v -0.00536106 -0.01687103 -0.00407505
+v -0.01992100 -0.01174439 -0.00407503
+v -0.01788511 -0.01392166 -0.00407504
+v -0.01686642 -0.01487076 -0.00407504
+v -0.01682168 -0.01483492 -0.00303616
+v -0.01452926 -0.01662888 -0.00076257
+v -0.00536106 -0.01385434 -0.00076256
+v -0.00562058 -0.01088760 -0.00097461
+v -0.00564295 -0.01088759 -0.00268662
+v -0.00536106 -0.01460254 -0.00166429
+v -0.00536106 -0.02013966 -0.00407506
+v -0.01624000 -0.01537571 -0.00407505
+v -0.01454119 -0.01663648 -0.00097463
+v -0.01444573 -0.01668643 -0.00076257
+v -0.00536106 -0.02198139 -0.00076259
+v -0.00536106 -0.02107681 -0.00313671
+v -0.00583833 -0.02014943 -0.00407506
+v -0.01501847 -0.01627160 -0.00407505
+v -0.01454119 -0.01662452 -0.00303617
+v -0.00782947 -0.02121690 -0.00076259
+v -0.00724332 -0.02149164 -0.00076259
+v -0.00536106 -0.02191841 -0.00097724
+v -0.00536106 -0.02109744 -0.00309326
+v -0.01450539 -0.01659955 -0.00407505
+v -0.00608145 -0.02038399 -0.00384388
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 22
+f 1 22 23
+f 1 23 12
+f 1 12 5
+f 1 5 15
+f 1 15 25
+f 1 25 31
+f 1 31 38
+f 1 38 32
+f 1 32 26
+f 1 26 18
+f 1 18 17
+f 1 17 8
+f 1 8 16
+f 1 16 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 20
+f 3 20 28
+f 3 28 34
+f 3 34 35
+f 3 35 29
+f 3 29 21
+f 3 21 11
+f 3 11 4
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 6 16 7
+f 7 16 8
+f 8 17 9
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 11 21 22
+f 12 23 21
+f 12 21 24
+f 12 24 13
+f 13 24 21
+f 13 21 29
+f 13 29 36
+f 13 36 37
+f 13 37 30
+f 13 30 25
+f 13 25 15
+f 13 15 14
+f 18 26 27
+f 18 27 19
+f 19 27 20
+f 20 27 28
+f 21 23 22
+f 25 30 31
+f 26 32 27
+f 27 32 33
+f 27 33 34
+f 27 34 28
+f 29 35 36
+f 30 37 35
+f 30 35 38
+f 30 38 39
+f 30 39 31
+f 31 39 38
+f 32 38 34
+f 32 34 33
+f 34 38 35
+f 35 37 36
+
diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_28.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df275ed990c46e6eba6e3b15be172b076ed71fe9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_28.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.00570660 -0.01088819 -0.00407503
+v -0.00575767 -0.01088818 -0.00509928
+v -0.00651794 -0.01088756 -0.01026434
+v -0.00651794 -0.01088759 -0.00407503
+v -0.00655297 -0.01207638 -0.00407503
+v -0.00590068 -0.01088817 -0.00716126
+v -0.00745479 -0.01332631 -0.00407504
+v -0.00660550 -0.01088756 -0.01055329
+v -0.00611811 -0.01088817 -0.00922211
+v -0.02059683 -0.01088759 -0.00407503
+v -0.00959259 -0.01610628 -0.00407505
+v -0.00876957 -0.01088754 -0.01556095
+v -0.01012814 -0.01499580 -0.01267713
+v -0.01055570 -0.01631814 -0.01128186
+v -0.02060850 -0.01088758 -0.00478447
+v -0.02032833 -0.01123123 -0.00407503
+v -0.01015586 -0.01661789 -0.00407505
+v -0.01045501 -0.01641726 -0.00922213
+v -0.01187924 -0.01673002 -0.01266813
+v -0.00930950 -0.01124127 -0.01556095
+v -0.01536978 -0.01088754 -0.01556095
+v -0.01157572 -0.01685170 -0.01128186
+v -0.02061288 -0.01088758 -0.00509928
+v -0.02026704 -0.01130839 -0.00407503
+v -0.01068995 -0.01680544 -0.00407505
+v -0.01294450 -0.01673002 -0.01266813
+v -0.01353112 -0.01192440 -0.01556095
+v -0.01134807 -0.01189235 -0.01556095
+v -0.01514651 -0.01119260 -0.01556095
+v -0.01742149 -0.01332092 -0.01288399
+v -0.01851301 -0.01253394 -0.01237018
+v -0.01851301 -0.01239980 -0.01237018
+v -0.01716028 -0.01088755 -0.01310996
+v -0.01147503 -0.01688613 -0.00922213
+v -0.01338519 -0.01692352 -0.00716015
+v -0.01329326 -0.01685170 -0.01128186
+v -0.02048300 -0.01088758 -0.00667218
+v -0.01992265 -0.01175351 -0.00509928
+v -0.01991973 -0.01174461 -0.00407503
+v -0.01134807 -0.01692948 -0.00407505
+v -0.01134807 -0.01695083 -0.00509930
+v -0.01431182 -0.01650331 -0.01128186
+v -0.01671521 -0.01472456 -0.01262090
+v -0.01542377 -0.01514833 -0.01298406
+v -0.01352820 -0.01570029 -0.01325390
+v -0.01499183 -0.01130359 -0.01556095
+v -0.01790013 -0.01363134 -0.01128185
+v -0.02044069 -0.01088757 -0.00716013
+v -0.02030060 -0.01088757 -0.00784596
+v -0.01998978 -0.01088757 -0.00860037
+v -0.01338519 -0.01694668 -0.00509930
+v -0.01450444 -0.01659949 -0.00407505
+v -0.01357636 -0.01682084 -0.00922213
+v -0.01438332 -0.01652942 -0.00990683
+v -0.01984385 -0.01163776 -0.00716013
+v -0.01890263 -0.01291856 -0.00509929
+v -0.01688157 -0.01486049 -0.01128185
+v -0.01890117 -0.01290373 -0.00407504
+v -0.01237539 -0.01692770 -0.00407505
+v -0.01542377 -0.01584392 -0.01128186
+v -0.01338519 -0.01690989 -0.00407505
+v -0.01501810 -0.01627069 -0.00407505
+v -0.01522823 -0.01603148 -0.00922213
+v -0.01441835 -0.01654486 -0.00853518
+v -0.01793515 -0.01388774 -0.00716014
+v -0.01792785 -0.01393583 -0.00509929
+v -0.01691221 -0.01489255 -0.00922212
+v -0.01788407 -0.01392100 -0.00407504
+v -0.01623949 -0.01537449 -0.00407505
+v -0.01690783 -0.01490443 -0.00509929
+v -0.01691659 -0.01490264 -0.00716014
+v -0.01546025 -0.01592168 -0.00716015
+v -0.01686552 -0.01486883 -0.00407504
+f 1 2 3
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+f 1 39 58
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+f 1 11 7
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+f 3 6 9
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+f 17 22 18
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+f 40 59 41
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+f 42 60 43
+f 43 60 57
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+f 54 63 60
+f 56 65 66
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+f 62 69 70
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+f 63 72 67
+f 65 67 66
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+f 66 70 68
+f 68 70 73
+f 69 73 70
+
diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_29.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..315cfc4b21ff9980c650f28f5b3f785543755692
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_29.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00650704 -0.02014948 -0.00481050
+v -0.00650704 -0.02014948 -0.00381050
+v -0.00650704 -0.01687184 -0.00481050
+v -0.00650704 -0.01687184 -0.00381050
+v -0.00536105 -0.02014948 -0.00481050
+v -0.00536105 -0.02014948 -0.00381050
+v -0.00536105 -0.01687184 -0.00481050
+v -0.00536105 -0.01687184 -0.00381050
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_3.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4435973837a163c125b7c79ec0b75fbafdf74e0a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_3.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
+v -0.01338503 -0.01510920 -0.03808787
+v -0.01542397 -0.01501065 -0.03808787
+v -0.01542397 -0.01355342 -0.05156099
+v -0.01338503 -0.01326656 -0.05156099
+v -0.01192242 -0.01465515 -0.03946231
+v -0.01159588 -0.01476955 -0.03808786
+v -0.01178398 -0.01470268 -0.03663235
+v -0.01134760 -0.01189047 -0.01556095
+v -0.01353099 -0.01192391 -0.01556095
+v -0.01665335 -0.01459708 -0.03685790
+v -0.01683843 -0.01467099 -0.03808786
+v -0.01676018 -0.01463227 -0.03944116
+v -0.01746290 -0.01300082 -0.05156099
+v -0.01203828 -0.01269636 -0.05156099
+v -0.01057717 -0.01439117 -0.03808786
+v -0.00930867 -0.01124108 -0.01556095
+v -0.01499210 -0.01130267 -0.01556095
+v -0.01785714 -0.01415359 -0.03808786
+v -0.01850569 -0.01248166 -0.05156099
+v -0.01090370 -0.01136590 -0.05156098
+v -0.00831704 -0.01241659 -0.03885966
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+v -0.00825083 -0.01251163 -0.03698125
+v -0.00788066 -0.01082749 -0.02159444
+v -0.00799201 -0.01072191 -0.01953276
+v -0.00810487 -0.01061632 -0.01747109
+v -0.00820569 -0.01051425 -0.01556095
+v -0.00829597 -0.01057585 -0.01556095
+v -0.01514709 -0.01119180 -0.01556095
+v -0.01914220 -0.01313462 -0.03808786
+v -0.01894508 -0.01192026 -0.05156098
+v -0.01055911 -0.01017622 -0.05156098
+v -0.00799352 -0.01105972 -0.03964908
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+v -0.00825083 -0.01251163 -0.03748521
+v -0.00611258 -0.00865227 -0.02571778
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+v -0.00726522 -0.00940905 -0.01747108
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+v -0.00626907 -0.00831791 -0.02079090
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+v -0.01835522 -0.00806802 -0.01953275
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+v -0.02066501 -0.01076935 -0.03808785
+v -0.02065297 -0.01075174 -0.03954335
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+v -0.01052902 -0.00841811 -0.05156097
+v -0.00733293 -0.00737104 -0.03808784
+v -0.00585978 -0.00533667 -0.02571777
+v -0.00578755 -0.00533667 -0.02365609
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+v -0.00608700 -0.00686427 -0.01747108
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+v -0.02095241 -0.00940897 -0.03808784
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diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_4.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c949c2aa9259c752572324bd3b68e10139b62e88
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_4.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_5.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1798a3c14d7aee3c4bc74c2be5e7ff65d597a88a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_5.obj
@@ -0,0 +1,736 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_6.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e30d2d9ab0fadb358a0baa58a4c7399193ab005f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_6.obj
@@ -0,0 +1,835 @@
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diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_7.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b4027b28912ea01fd35ddf213931bd38ed363f8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_7.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_8.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4a306d7b18b97a1780296fa604cc7ffe32317fe
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_8.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 0.00059990 0.00281800 0.00732210
+v 0.00060494 0.00281800 0.00728178
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+
diff --git a/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_9.obj b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ce191987490b6e65783e9cdc3b02a4f4b1fd1b1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/mjcf/mesh/toy_soldier_collision_9.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.00837261 0.01737296 0.01273525
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