diff --git a/.gitattributes b/.gitattributes
index 5dd58295ef1f8bbd6423602b200d7b88a2f35f04..2d835e11e56317c8311bd9b002b31a426ed179a2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2929,3 +2929,5 @@ dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mesh/therm
 dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/9b76c33f71aa5d56b1ce315cb1c6ba42.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/thermos.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/thermos_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mesh/mini_sculpture_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mini_sculpture_002.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mesh/material.mtl b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..39246646c47c8b651b3dad4f64869c15235844cf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mini_sculpture_002_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 mini_sculpture_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mesh/material_0.png b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae82dfcd3e76b9ec7980624a962aa3d9fdcff8d1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2afed0a95012e98c0f7833f736d94b096e1e3e03bb03eddf9035e4b0404ee6e1
+size 12081579
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mesh/mini_sculpture_002.glb b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mesh/mini_sculpture_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e28604a1a835aac6f096f1de4cc695744dedf32e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mesh/mini_sculpture_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91b10ed2232cc74e235c00296ae5a70717e89bc2a0594eaabb3cce096d529823
+size 15576712
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mesh/mini_sculpture_002.mtl b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mesh/mini_sculpture_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d6cd37092a2429a2c286c5ba4be84f1e9e9a4f56
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mesh/mini_sculpture_002.mtl
@@ -0,0 +1,6 @@
+newmtl mini_sculpture_002_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/5d7d6884dd305709b251ed73ae2bbfb2/mesh/mini_sculpture_002.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mesh/mini_sculpture_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4f928df9d1442534fbe68750b6ceccc6007d4f6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mesh/mini_sculpture_002.obj
@@ -0,0 +1,117036 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mini_sculpture_002_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mesh/mini_sculpture_002_collision.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mesh/mini_sculpture_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73f1b5a2d7cb9c2d0ddc9af5f4ca188d4359570f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mesh/mini_sculpture_002_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mesh/mini_sculpture_002_geometry_Looks_material_0.png b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mesh/mini_sculpture_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae82dfcd3e76b9ec7980624a962aa3d9fdcff8d1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mesh/mini_sculpture_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2afed0a95012e98c0f7833f736d94b096e1e3e03bb03eddf9035e4b0404ee6e1
+size 12081579
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mini_sculpture_002.urdf b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mini_sculpture_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..73a8275cdd244f25c85c582eb4b4b773d6c290fe
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mini_sculpture_002.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mini_sculpture_002">
+   <link name="mini_sculpture_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mini_sculpture_002.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/mini_sculpture_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>5d7d6884dd305709b251ed73ae2bbfb2</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>decorations</super_category>
+         <category>mini_sculpture</category>
+         <name>warrior figurine</name>
+         <color>green</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>detailed warrior figurine holding a sword, standing on a circular base</description>
+         <min_height>0.1056</min_height>
+         <max_height>0.1056</max_height>
+         <real_height>0.1056</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420195705</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>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mini_sculpture_002.usd b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mini_sculpture_002.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8005761ceac96f007407cabd10c5650cdf7bf6fb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mini_sculpture_002.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b60d12cf3a70c0e495774204e28c963b2fc22cebedd123380297f634863de1e
+size 4990175
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae82dfcd3e76b9ec7980624a962aa3d9fdcff8d1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2afed0a95012e98c0f7833f736d94b096e1e3e03bb03eddf9035e4b0404ee6e1
+size 12081579
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2ba3ee7e31686654474ae1dadb5cc393d7843ce
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3970336eeb9158dbd21df3f6e156fbb700001f02
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision.obj
@@ -0,0 +1,8107 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_0.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01c5f30312483b520e4c8aa68f9c66b5f340b92e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_0.obj
@@ -0,0 +1,2011 @@
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diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_1.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbce1f248ecdff633d2b3bb3b16def86a7a7be49
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_1.obj
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diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_10.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb1ac4487636da51d95b662e7f60a2965c649be1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_10.obj
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+
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_11.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..036ec358aefa653c95bfc9963799cf127851a017
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_11.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.00553363 0.00241089 -0.02479483
+v 0.00556240 0.00282272 -0.02479483
+v 0.00735045 0.00270860 -0.03110613
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+v 0.01416350 0.00243847 -0.02479483
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+
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_12.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5caa1fcfe37ada0434d76e8f0990adfec0ac25ec
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_12.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.01388331 -0.00573797 -0.03365812
+v -0.01388331 -0.00375209 -0.03365811
+v -0.01349671 -0.00614802 -0.03365812
+v -0.01388331 -0.00631109 -0.03365557
+v -0.01388331 -0.00375210 -0.03101787
+v -0.00913621 -0.00375209 -0.03365811
+v -0.01241262 -0.00608490 -0.03365812
+v -0.01388331 -0.00609066 -0.03236755
+v -0.01388331 -0.00379894 -0.03097856
+v -0.01382476 -0.00375210 -0.03101787
+v -0.00970961 -0.00375209 -0.03312638
+v -0.01002745 -0.00480239 -0.03339027
+v -0.00963573 -0.00456067 -0.03365812
+v -0.01088570 -0.00576302 -0.03365812
+v -0.01388331 -0.00570967 -0.03077040
+v -0.01388331 -0.00393370 -0.03094603
+v -0.01176812 -0.00375209 -0.03180047
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+v -0.01029464 -0.00522797 -0.03365812
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+v -0.01207573 -0.00415538 -0.03164322
+v -0.01388331 -0.00401687 -0.03092623
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+
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_13.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4d4b44dcd0d7fff376b3f961260eb83b10cc0a6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_13.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.00116698 -0.00814203 -0.02031792
+v 0.00116698 -0.00767674 -0.02170930
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+
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_14.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76d386755abb9b72ea11a771d13e841b4d6fef34
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_14.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.01625220 -0.00375209 -0.03365785
+v -0.00913669 -0.00375209 -0.03365785
+v -0.01584309 -0.00375209 -0.03233104
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+v -0.01087093 0.00270859 -0.03100965
+v -0.01095322 0.00398450 -0.03100965
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+f 7 9 14
+f 8 15 16
+f 8 16 9
+f 9 18 19
+f 9 19 20
+f 9 20 14
+f 9 16 15
+f 9 15 26
+f 9 26 17
+f 10 21 22
+f 10 22 23
+f 10 23 11
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+f 19 27 21
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 21 32 22
+
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_15.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d5ce10250c71fb05b5d2b9397c93c4a2aa4028d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_15.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00832158 0.00890520 -0.02347117
+v -0.00832158 0.00880807 -0.02472869
+v -0.00840426 0.00887034 -0.02347117
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+v -0.00915581 0.00752883 -0.03100963
+v -0.00940899 0.00734785 -0.03100963
+v -0.00926193 0.00801528 -0.02347117
+v -0.00871462 0.00112418 -0.02347120
+v -0.01023910 0.00084361 -0.03100966
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+v -0.00905047 0.00042521 -0.03100966
+v -0.00850780 0.00044181 -0.03100966
+v -0.00832158 0.00044845 -0.03100966
+v -0.00832158 0.00802028 -0.03100963
+v -0.00893818 0.00767078 -0.03100963
+v -0.00902652 0.00761350 -0.03100963
+v -0.01000910 0.00715690 -0.02347117
+v -0.01013170 0.00648034 -0.03100964
+v -0.00885112 0.00122795 -0.02347120
+v -0.00895492 0.00133255 -0.02347120
+v -0.00970879 0.00215606 -0.02347119
+v -0.01012346 0.00290984 -0.02347119
+v -0.01017600 0.00301361 -0.02347119
+v -0.01081088 0.00220506 -0.03100965
+v -0.01025301 0.00621968 -0.03100964
+v -0.01037329 0.00595403 -0.03100964
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+v -0.01022493 0.00320371 -0.02347119
+v -0.01052319 0.00442570 -0.02347118
+v -0.01087089 0.00270979 -0.03100965
+v -0.01090231 0.00439749 -0.03100964
+v -0.01095279 0.00398573 -0.03100965
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+f 1 8 18
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+f 1 24 23
+f 1 23 22
+f 1 22 21
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+f 28 33 30
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+
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_16.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bde027ad89c8b456cb2684b3166cbd764a1130d7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_16.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.00832158 -0.00447261 0.00215067
+v -0.00832158 -0.00450553 0.00172260
+v -0.00832158 -0.00375222 0.00189509
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+v -0.00991681 -0.00501921 -0.01754071
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+v -0.00832158 -0.00551280 -0.01680093
+v -0.00832158 -0.00375214 -0.01907844
+v -0.00952888 -0.00375221 0.00066697
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+v -0.01059952 -0.00438154 -0.01686535
+v -0.01132395 -0.00375215 -0.01677183
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+v -0.00832158 -0.00408734 -0.01886649
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+v -0.01122403 -0.00375215 -0.01731835
+v -0.01098657 -0.00375214 -0.01781916
+v -0.01059952 -0.00400204 -0.01793345
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+f 15 23 19
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+f 20 22 21
+
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_17.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a03f493dde2d89a635086d09f55426fcafe39319
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_17.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.00730443 0.00270813 -0.03365784
+v 0.00758453 0.00096496 -0.03365785
+v 0.00754303 0.00106069 -0.03110676
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+
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_18.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89de787504e82697a3af843d3d42d6307d1420ad
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_18.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
+v 0.01556864 -0.00717061 0.01632229
+v 0.01556864 -0.00709060 0.01474943
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+v 0.01637408 -0.00353763 0.02275372
+v 0.01556864 -0.00620273 0.01110608
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+v 0.02126229 -0.00019477 0.00762714
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+v 0.02162772 0.00098173 0.00422593
+v 0.02195586 0.00099271 0.00588766
+v 0.01556864 -0.00361606 0.02289590
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+
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_19.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f62d5d6939f2b40f776cb0f6aaf875d5733ff873
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_19.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.00174544 0.00953004 -0.02031785
+v 0.00116533 0.00883548 -0.02031786
+v -0.00174544 0.00620298 -0.02442631
+v -0.00174544 -0.00186968 -0.02031790
+v 0.00116533 0.00862864 -0.02040442
+v 0.00116533 -0.00247610 -0.02031790
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+v 0.00116533 0.00692222 -0.02105403
+v 0.00116533 0.00634635 -0.02120681
+v 0.00116533 0.00622530 -0.02123754
+v 0.00116533 0.00450242 -0.02162965
+v -0.00174544 0.00552135 -0.02457952
+v 0.00116248 -0.00247609 -0.02153879
+v -0.00095890 -0.00218464 -0.02031790
+v -0.00174544 0.00442486 -0.02473922
+v -0.00020058 -0.00247610 -0.02031790
+v 0.00116533 -0.00247609 -0.02102291
+v 0.00116533 0.00442485 -0.02163700
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+v 0.00116533 -0.00238325 -0.02154355
+v 0.00116533 0.00279599 -0.02177291
+v 0.00116533 0.00271137 -0.02177117
+v 0.00116533 0.00106840 -0.02171233
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+
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_2.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b7c952e6d4c4101ccdae9ee79fb0970e82625a2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_2.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.01934322 -0.01080610 0.00189234
+v -0.01934322 -0.01070182 0.00066730
+v -0.01850218 -0.01016668 -0.00722585
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+v -0.02024543 -0.01021296 -0.00230481
+v -0.01853637 -0.00849912 -0.02322790
+v -0.01688386 -0.00846597 -0.02654803
+v -0.01672933 -0.00846597 -0.02654803
+v -0.01665305 -0.00851086 -0.02541696
+v -0.01655507 -0.00857784 -0.02368033
+v -0.01648537 -0.00863930 -0.02194022
+v -0.01644460 -0.00868695 -0.02020011
+v -0.01782289 -0.01024819 0.00189234
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+v -0.01411215 -0.00651398 -0.03365812
+v -0.01388397 -0.00631167 -0.03365464
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+
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_20.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d23e652f02d621c2ddc88194c0c3895442fd6a66
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_20.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.01575605 -0.00758732 0.01110397
+v -0.01635608 -0.00627277 0.01110398
+v -0.01638541 -0.00630915 0.01232863
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+
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_21.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0c7b81f99cc8e13856fce87ea4a9f2a857bee5a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_21.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.01511149 0.00884747 0.02322029
+v 0.01496696 0.00890001 0.02154140
+v 0.01332877 0.00882821 0.02322029
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+v 0.01556864 0.00880545 0.02319552
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+v 0.01556864 0.00801229 0.01049681
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+v 0.01142100 -0.00494340 0.00514695
+v 0.01556864 -0.00338857 0.02322025
+v 0.01142100 -0.00281249 0.02322025
+v 0.01556864 -0.00169177 0.00514696
+v 0.01399460 -0.00660861 0.00858965
+v 0.01285132 -0.00707613 0.00830658
+v 0.01153631 -0.00821254 0.00876478
+v 0.01142100 -0.00815300 0.00870994
+v 0.01496696 -0.00354091 0.02322025
+v 0.01556864 -0.00361619 0.02289650
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+v 0.01325204 -0.00647383 0.01858162
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+v 0.01153631 -0.00898824 0.01110709
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+v 0.01153631 -0.00871335 0.01284613
+v 0.01279164 -0.00863105 0.01284613
+v 0.01556864 -0.00624442 0.01121148
+v 0.01556864 -0.00709016 0.01474970
+v 0.01556864 -0.00716897 0.01632245
+v 0.01142100 -0.00896373 0.01110709
+f 1 2 3
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+f 1 12 20
+f 1 20 22
+f 1 22 31
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+f 1 37 30
+f 1 30 21
+f 1 21 14
+f 1 14 4
+f 1 4 2
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+f 5 17 6
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+f 7 19 10
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+f 10 18 11
+f 12 18 20
+f 14 21 15
+f 18 22 20
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+f 18 29 36
+f 18 36 50
+f 18 50 49
+f 18 49 62
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+f 18 71 65
+f 18 65 53
+f 18 53 39
+f 18 39 31
+f 18 31 22
+f 29 32 33
+f 29 33 34
+f 29 34 35
+f 29 35 36
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+f 31 40 41
+f 31 41 42
+f 31 42 43
+f 32 44 45
+f 32 45 33
+f 33 45 46
+f 33 46 34
+f 34 46 35
+f 35 46 47
+f 35 47 48
+f 35 48 49
+f 35 49 50
+f 35 50 36
+f 37 43 42
+f 37 42 41
+f 37 41 51
+f 37 51 38
+f 38 51 52
+f 39 53 40
+f 40 53 41
+f 41 54 51
+f 41 53 55
+f 41 55 56
+f 41 56 54
+f 44 57 45
+f 45 57 58
+f 45 58 59
+f 45 59 47
+f 45 47 46
+f 47 59 60
+f 47 60 61
+f 47 61 48
+f 48 61 49
+f 49 61 62
+f 51 54 52
+f 52 54 63
+f 52 63 64
+f 53 65 66
+f 53 66 55
+f 54 56 63
+f 55 66 56
+f 56 66 67
+f 56 67 63
+f 57 68 58
+f 58 68 69
+f 58 69 59
+f 59 70 60
+f 59 69 70
+f 60 67 61
+f 60 70 67
+f 61 71 62
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+f 61 66 65
+f 61 65 71
+f 63 67 70
+f 63 70 64
+
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_22.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e59a5522a4509ba7c661e8f314a1254e26dd4bec
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_22.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.01142100 0.00762265 0.00514623
+v 0.01556864 0.00707722 0.00514623
+v 0.01142100 0.00902171 -0.00272607
+v 0.01142100 -0.00494402 0.00514618
+v 0.01556864 0.00688480 0.00470464
+v 0.01428042 0.00553499 -0.00272608
+v 0.01366818 0.00638714 -0.00272608
+v 0.01280585 0.00751128 -0.00272607
+v 0.01209455 0.00836922 -0.00272607
+v 0.01556864 -0.00169168 0.00514619
+v 0.01142100 -0.00575853 -0.00272612
+v 0.01142100 -0.00517405 0.00360024
+v 0.01556864 0.00642184 0.00395941
+v 0.01555362 0.00266893 -0.00272609
+v 0.01489713 0.00443110 -0.00272608
+v 0.01142100 -0.00534622 0.00240880
+v 0.01142100 -0.00539396 0.00207202
+v 0.01238524 -0.00500476 -0.00198166
+v 0.01315379 -0.00424520 -0.00272612
+v 0.01323133 -0.00415116 -0.00272612
+v 0.01344123 -0.00387483 -0.00272611
+v 0.01419313 -0.00278107 -0.00272611
+v 0.01556864 -0.00163525 0.00482945
+v 0.01169261 -0.00558925 -0.00272612
+v 0.01142100 -0.00552271 0.00051066
+v 0.01556864 0.00426326 0.00096770
+v 0.01555606 0.00253293 -0.00272609
+v 0.01180913 -0.00550534 -0.00272612
+v 0.01437299 -0.00241937 -0.00272611
+v 0.01556864 -0.00155423 0.00451965
+v 0.01556864 0.00270798 0.00052533
+v 0.01556824 0.00103697 -0.00272610
+v 0.01505425 -0.00078163 -0.00272610
+v 0.01507698 -0.00072231 -0.00272610
+v 0.01553291 0.00090097 -0.00272610
+v 0.01556864 -0.00061093 0.00234100
+v 0.01556864 0.00253292 0.00054768
+v 0.01556864 0.00103406 0.00079659
+f 1 2 3
+f 1 3 11
+f 1 11 25
+f 1 25 17
+f 1 17 16
+f 1 16 12
+f 1 12 4
+f 1 4 10
+f 1 10 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 10 23
+f 2 23 30
+f 2 30 36
+f 2 36 38
+f 2 38 37
+f 2 37 31
+f 2 31 26
+f 2 26 13
+f 2 13 5
+f 3 9 8
+f 3 8 7
+f 3 7 6
+f 3 6 15
+f 3 15 14
+f 3 14 27
+f 3 27 32
+f 3 32 35
+f 3 35 34
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+f 3 33 29
+f 3 29 22
+f 3 22 21
+f 3 21 20
+f 3 20 19
+f 3 19 28
+f 3 28 24
+f 3 24 11
+f 4 12 10
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 10 12 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 11 24 25
+f 13 26 27
+f 13 27 14
+f 17 25 28
+f 17 28 18
+f 18 28 19
+f 22 29 23
+f 23 29 30
+f 24 28 25
+f 26 31 32
+f 26 32 27
+f 29 33 30
+f 30 33 34
+f 30 34 35
+f 30 35 32
+f 30 32 36
+f 31 37 32
+f 32 37 38
+f 32 38 36
+
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_23.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12ea555618cf7115daa4d529e7a6f587dfc5cd28
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_23.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.00832158 -0.00088677 -0.02031789
+v -0.00832158 0.00101607 -0.02479484
+v -0.00793602 -0.00113037 -0.02031789
+v -0.00832158 0.00966760 -0.02031785
+v -0.00826172 0.00098500 -0.02479484
+v -0.00741270 -0.00146097 -0.02031790
+v -0.00832158 0.00880010 -0.02479481
+v -0.00755496 0.01014983 -0.02031785
+v -0.00795018 0.00084332 -0.02479484
+v -0.00561876 -0.00207743 -0.02031790
+v -0.00730392 0.00055124 -0.02479484
+v -0.00822696 0.00883863 -0.02479481
+v -0.00733417 0.01023683 -0.02031785
+v -0.00429664 -0.00217810 -0.02031790
+v -0.00666088 0.00050899 -0.02479484
+v -0.00733417 0.00918788 -0.02479481
+v -0.00625279 0.01041704 -0.02031785
+v -0.00390399 -0.00219177 -0.02031790
+v -0.00561876 0.00052017 -0.02479484
+v -0.00561876 0.01050529 -0.02031785
+v -0.00561876 0.00939419 -0.02479481
+v -0.00174573 -0.00186987 -0.02031790
+v -0.00510510 0.00065440 -0.02479484
+v -0.00390399 0.01023932 -0.02031785
+v -0.00476782 0.00917048 -0.02479481
+v -0.00390078 0.00113166 -0.02479484
+v -0.00342574 0.00142124 -0.02479483
+v -0.00293654 0.00174315 -0.02479483
+v -0.00233727 0.00268150 -0.02479483
+v -0.00193240 0.00384234 -0.02479483
+v -0.00176504 0.00442399 -0.02479482
+v -0.00174573 0.00442399 -0.02473916
+v -0.00174573 0.00952964 -0.02031785
+v -0.00412091 0.00899896 -0.02479481
+v -0.00179980 0.00534371 -0.02479482
+v -0.00174573 0.00516971 -0.02465809
+v -0.00174573 0.00620377 -0.02442627
+v -0.00185773 0.00618016 -0.02479482
+v -0.00223106 0.00707874 -0.02479481
+v -0.00256578 0.00769893 -0.02479481
+v -0.00292753 0.00811405 -0.02479481
+v -0.00330280 0.00851673 -0.02479481
+v -0.00370574 0.00877649 -0.02479481
+f 1 2 3
+f 1 3 6
+f 1 6 10
+f 1 10 14
+f 1 14 18
+f 1 18 22
+f 1 22 33
+f 1 33 24
+f 1 24 20
+f 1 20 17
+f 1 17 13
+f 1 13 8
+f 1 8 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 12
+f 2 12 16
+f 2 16 21
+f 2 21 25
+f 2 25 34
+f 2 34 43
+f 2 43 42
+f 2 42 41
+f 2 41 40
+f 2 40 39
+f 2 39 38
+f 2 38 35
+f 2 35 31
+f 2 31 30
+f 2 30 29
+f 2 29 28
+f 2 28 27
+f 2 27 26
+f 2 26 23
+f 2 23 19
+f 2 19 15
+f 2 15 11
+f 2 11 9
+f 2 9 5
+f 4 8 7
+f 5 9 6
+f 6 9 11
+f 6 11 10
+f 7 8 12
+f 8 13 12
+f 10 11 14
+f 11 15 14
+f 12 13 16
+f 13 17 16
+f 14 15 18
+f 15 19 18
+f 16 17 20
+f 16 20 21
+f 18 19 22
+f 19 23 22
+f 20 24 21
+f 21 24 25
+f 22 23 26
+f 22 26 27
+f 22 27 28
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 36
+f 22 36 37
+f 22 37 33
+f 24 33 34
+f 24 34 25
+f 31 35 36
+f 31 36 32
+f 33 37 38
+f 33 38 39
+f 33 39 40
+f 33 40 41
+f 33 41 42
+f 33 42 43
+f 33 43 34
+f 35 38 37
+f 35 37 36
+
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_24.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb982141a61a82d993849b8eebb0feac6f234516
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_24.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00173924 -0.00467041 -0.02031791
+v -0.00044121 -0.00275435 -0.02031790
+v 0.00027562 -0.00489171 -0.02286448
+v -0.00129282 -0.00533257 -0.02100548
+v -0.00135481 -0.00647552 -0.02113227
+v -0.00135481 -0.00679016 -0.02113227
+v -0.00164142 -0.00587323 -0.02031791
+v -0.00020037 -0.00247610 -0.02031790
+v -0.00009573 -0.00247610 -0.02041179
+v 0.00116248 -0.00247609 -0.02153893
+v 0.00116561 -0.00247903 -0.02154348
+v 0.00116561 -0.00254008 -0.02158979
+v 0.00116561 -0.00258234 -0.02161636
+v 0.00116561 -0.00384504 -0.02240567
+v 0.00116561 -0.00469447 -0.02290320
+v 0.00027562 -0.00539127 -0.02286448
+v -0.00034254 -0.00745233 -0.02146910
+v 0.00031543 -0.00847317 -0.02112317
+v -0.00143385 -0.00692284 -0.02031792
+v 0.00116561 -0.00247610 -0.02031790
+v 0.00116561 -0.00247609 -0.02102293
+v 0.00116561 -0.00546407 -0.02290320
+v 0.00116561 -0.00625303 -0.02271340
+v 0.00049371 -0.00847317 -0.02112317
+v 0.00031543 -0.00847317 -0.02093539
+v 0.00116561 -0.00731379 -0.02197953
+v 0.00113661 -0.00768303 -0.02170951
+v -0.00032378 -0.00788909 -0.02031792
+v 0.00116561 -0.00814151 -0.02031792
+v 0.00111272 -0.00816969 -0.02031792
+v 0.00049371 -0.00847317 -0.02093539
+v 0.00116561 -0.00767716 -0.02170901
+v 0.00110618 -0.00816969 -0.02031792
+v -0.00031809 -0.00789379 -0.02031792
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
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+f 1 28 34
+f 1 34 33
+f 1 33 30
+f 1 30 29
+f 1 29 20
+f 1 20 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 22
+f 3 22 16
+f 3 16 6
+f 3 6 5
+f 3 5 4
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 6 16 17
+f 8 20 21
+f 8 21 10
+f 8 10 9
+f 10 21 11
+f 11 21 20
+f 11 20 29
+f 11 29 32
+f 11 32 26
+f 11 26 23
+f 11 23 22
+f 11 22 15
+f 11 15 14
+f 11 14 13
+f 11 13 12
+f 16 22 23
+f 16 23 17
+f 17 23 18
+f 18 24 31
+f 18 31 25
+f 18 25 19
+f 18 23 26
+f 18 26 27
+f 18 27 24
+f 19 25 28
+f 24 29 30
+f 24 30 31
+f 24 27 32
+f 24 32 29
+f 25 31 30
+f 25 30 33
+f 25 33 34
+f 25 34 28
+f 26 32 27
+
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_25.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3445883e47a0a051e76b992a4e169f5ea68d292
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_25.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.02194070 -0.00776380 0.01407795
+v -0.02245126 -0.00776381 0.01632375
+v -0.02024988 -0.00495290 0.01711620
+v -0.01947016 -0.00447249 0.01693076
+v -0.02110330 -0.00717578 0.01407795
+v -0.01751125 -0.00776380 0.01407795
+v -0.02231027 -0.00776382 0.01806388
+v -0.02008219 -0.00447250 0.01980187
+v -0.02031076 -0.00484497 0.01806389
+v -0.02000208 -0.00447250 0.01806389
+v -0.01920313 -0.00447249 0.01669680
+v -0.02037485 -0.00709587 0.01407795
+v -0.01762767 -0.00447249 0.01622025
+v -0.01412747 -0.00447249 0.01680138
+v -0.01292371 -0.00447250 0.01774368
+v -0.01259794 -0.00447250 0.01811349
+v -0.01217817 -0.00447250 0.01901482
+v -0.01563030 -0.00776382 0.01812857
+v -0.01752299 -0.00766360 0.01407795
+v -0.02002451 -0.00447250 0.02019324
+v -0.02201974 -0.00776382 0.01901913
+v -0.01983545 -0.00447251 0.02121964
+v -0.01934306 -0.00701822 0.01407795
+v -0.01592830 -0.00447249 0.01629896
+v -0.01456006 -0.00447249 0.01656742
+v -0.01754649 -0.00747801 0.01407795
+v -0.01184812 -0.00447250 0.01980187
+v -0.01550320 -0.00776382 0.01980186
+v -0.01202436 -0.00465648 0.01980187
+v -0.01180754 -0.00481985 0.02154093
+v -0.02176980 -0.00776382 0.01976629
+v -0.01979059 -0.00447251 0.02131344
+v -0.02102319 -0.00776383 0.02147516
+v -0.02086618 -0.00776383 0.02180723
+v -0.01153944 -0.00447251 0.02154093
+v -0.01550320 -0.00776382 0.01982666
+v -0.01266630 -0.00551936 0.02154093
+v -0.01163877 -0.00447251 0.02211559
+v -0.01185880 -0.00447252 0.02327999
+v -0.01198271 -0.00462750 0.02327999
+v -0.01284040 -0.00537566 0.02327999
+v -0.01895426 -0.00447251 0.02292528
+v -0.01805385 -0.00447252 0.02392257
+v -0.01822795 -0.00447252 0.02374360
+v -0.01960795 -0.00776383 0.02225574
+v -0.01630749 -0.00447252 0.02495544
+v -0.01735210 -0.00447252 0.02446057
+v -0.01620174 -0.00776383 0.02128217
+v -0.01191862 -0.00447252 0.02341692
+v -0.01315656 -0.00514013 0.02429993
+v -0.01946055 -0.00776383 0.02225574
+v -0.01591335 -0.00529672 0.02444979
+v -0.01588665 -0.00447252 0.02505894
+v -0.01634273 -0.00776383 0.02145791
+v -0.01277204 -0.00447252 0.02453712
+v -0.01413495 -0.00447252 0.02509129
+v -0.01419797 -0.00528835 0.02445626
+v -0.01785945 -0.00776383 0.02205412
+v -0.01472668 -0.00447252 0.02509237
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 23
+f 1 23 26
+f 1 26 19
+f 1 19 6
+f 1 6 18
+f 1 18 28
+f 1 28 36
+f 1 36 48
+f 1 48 54
+f 1 54 58
+f 1 58 51
+f 1 51 45
+f 1 45 34
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+
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_3.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ebe0d85eeac4257b8d137c855a47f67cc204dd4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_3.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_4.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b0f1153a5c9a00a8003f85ca4e922dffdf23311
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_4.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_5.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1651ba1cc6511b2b0cdbff8e4ab10d7f2f53c172
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_5.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_6.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15c6d9d2fb79c590f55d06e1ca4a6ccdf37bd728
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_6.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_7.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09c1aef3a6ff5747f991c91d12041e0a246cece6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_7.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_8.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..072a831c0e6012be9e2bdd2d46724b8f31a17b9f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_8.obj
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diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_9.obj b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59fa4b5383c348432f0d99af74fb78f5ae34a922
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mesh/mini_sculpture_002_collision_9.obj
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diff --git a/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mini_sculpture_002.xml b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mini_sculpture_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2eaa508ff222a82d0c298d3ce2df4e200876ea36
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mjcf/mini_sculpture_002.xml
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new file mode 100644
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