diff --git a/.gitattributes b/.gitattributes
index 9d867fc4a3bb84e597b08fc79b2194f7d1a145c6..2e122c6fe70d9e68b630018aae4b4fd5c332bc7e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2870,3 +2870,5 @@ dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/0f02d7fb5c
 dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/137c1242dcee51cb9c616fddfa30c483.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacup_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mesh/vase_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/vase_005.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mesh/material.mtl b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9c9a8513c2d99283b82d7e5beae397e62dd0b6d3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl vase_005_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mesh/material_0.png b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ce0ed10acce82da7c659e9d185274ae1adb1b7a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mesh/material_0.png
@@ -0,0 +1,3 @@
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mesh/vase_005.glb b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mesh/vase_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9c32d10c84060d0921705dc1e18b95791351cd84
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mesh/vase_005.glb
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mesh/vase_005.mtl b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mesh/vase_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..880d29da1f8ff2990351b1a123bfa66a57eb4661
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mesh/vase_005.mtl
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+newmtl vase_005_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mesh/vase_005.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mesh/vase_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f29fb73c227e4cc8cd8341fa59b10c3a7bdfb9f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mesh/vase_005.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mesh/vase_005_collision.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mesh/vase_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..595e6bb1bec3f1d370b55b583832bca5675fc1d4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mesh/vase_005_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mesh/vase_005_geometry_Looks_material_0.png b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mesh/vase_005_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 5974378
diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005.obj
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+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab2ac8f522a802770b8293c3141baeb4c983e6a6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision.obj
@@ -0,0 +1,15924 @@
+# https://github.com/mikedh/trimesh
+
+o vase_005_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_0.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15cd05c8d6b7f0f76d82ef66feb476239b49d173
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_0.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_1.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45dafbbfbddc09e2a5f069240a417c6257fe38ca
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_1.obj
@@ -0,0 +1,340 @@
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_10.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd6d2da298565cff9c2b2865f81b76d5c001f411
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_10.obj
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_11.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4fec9da2b33f7065bf9c72961cf7129da5852d6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_11.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_12.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31e14e5ac97dbd7aacefd17a9778e1517e251107
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_12.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_13.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5abafd36c817d16df11d3e9970b676a94e6f5c62
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_13.obj
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_14.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..468bac3b6893737ae7c4f5022af15407d10b368b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_14.obj
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_15.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d7b3cc1469438b8bf21b940761de37c4b5195e2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_15.obj
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_16.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9034ac14e54de213d2a910296c5b970972fbc689
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_16.obj
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_17.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b1cf8887747618864e6a1a862985c061d0edb82
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_17.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_18.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af7b515ba1188011288e3d4e87680b948c6985cf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_18.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_19.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf856bd887a8dfe1a30c95aa9f3285290e201968
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_19.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_2.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a944b5a5514902f40e3ddf58c527b95e57938a1a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_2.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_20.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ee2d47a272255939e5048149e308dfdadf7bc59
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_20.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_21.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..301c8e87952c626323d3d92b6d847e8e809b848b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_21.obj
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_22.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38d30fb40156529ac370bcc27f38832c0521164e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_22.obj
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_23.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ee5551fe480ded1b3468e8e57e44cdcaf62be70
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_23.obj
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_24.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ed3c555a90549f1bd87d0c139949ed9e12f38fc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_24.obj
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_25.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f28020dee007c479d50daecf66bcf57412c5e3e0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_25.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_26.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fc3fe35a4e97d4489c9b921809e2842dbb73a98
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_26.obj
@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_27.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a95e0d1e26fea848485f6f8571534dbfcb373df
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_27.obj
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_28.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a04f730b1e4469a99e0e83449739aaba946261a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_28.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_29.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f57930c2cbc372828fd18ce0c897ef1c8addc136
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_29.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_3.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49d5c97601387a34d65c501736f7fd835cc01db6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_3.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_30.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b11d3969d9e50f73011de4a97e45131d3bbce1a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_30.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_4.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..299225dbf6b48dde5c3c697bf4f995debc139630
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_4.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_5.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..885ea0368eaeb1d3a920e585466d865cdd487f70
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_5.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_6.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9fa50fc31959b3e687c42e40db68c5e99935bde
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_6.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_7.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..887922e5c5384b453d70b44b6c05662887e86d2e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_7.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_8.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e484a8c05d433e01874c14eaabba366ab739e96
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_8.obj
@@ -0,0 +1,238 @@
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_9.obj b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61efaba19f7d2a45120598df8a6b34cac360e8fc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/mesh/vase_005_collision_9.obj
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diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/vase_005.xml b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/vase_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..506b1273a587ce94ae3a03dfa120f4f26a2b9a2b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mjcf/vase_005.xml
@@ -0,0 +1,76 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="vase_005">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/vase_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/vase_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/vase_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/vase_005_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/vase_005_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/vase_005_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/vase_005_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/vase_005_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/vase_005_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/vase_005_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/vase_005_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/vase_005_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/vase_005_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/vase_005_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/vase_005_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/vase_005_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/vase_005_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/vase_005_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/vase_005_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/vase_005_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/vase_005_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/vase_005_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/vase_005_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/vase_005_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/vase_005_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/vase_005_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/vase_005_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/vase_005_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/vase_005_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/vase_005_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/vase_005_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/vase_005_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="vase_005">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/textures/material_0.png b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ce0ed10acce82da7c659e9d185274ae1adb1b7a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0345939ffaa54c02838c5c00bf7b16327cdf15b1894881509d6ce3711c868caa
+size 5974378
diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/vase_005.urdf b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/vase_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c29c52820ed1242da6ffca620498e76a9e9547af
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/vase_005.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="vase_005">
+   <link name="vase_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/vase_005.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/vase_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>14c1be720efd5fbdb9bae8f0c84a5bec</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>decorations</super_category>
+         <category>vase</category>
+         <name>purple vase</name>
+         <color>purple</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>tall, slender purple vase with a flared rim</description>
+         <min_height>0.1047</min_height>
+         <max_height>0.1047</max_height>
+         <real_height>0.1047</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420201220</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/vase_005.usd b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/vase_005.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/vase_005.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63e994930351cf593c885b8b6dafc8581ae63a8bd883c7a084e9b898ec7c8b35
+size 4960286
diff --git a/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/video.mp4 b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b03362206462f444d3a5f14ef67a3959b0369102
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d77c8fd9e12948a2ca4138076667137f639562b6c9b7948456f0e7064d55c18
+size 45386