diff --git a/.gitattributes b/.gitattributes
index b710c0375bfc515f5e45284bcc7697a6f17b53a1..aced8fdd22a9c033ef968dc83b94dddd1b5d9a2d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2998,6 +2998,6 @@ dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd
 dataset/desktop_supplies/electronic_accessories/4ffb3c15ef6e5a9285ee3cb8763ad6bd/tv_remote_021.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/mesh/usb_drive_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/50d97257484a57c5bc118869af1015b6/usb_drive_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/57a7fef6a90d5691b13a2f124fc4bbf2/57a7fef6a90d5691b13a2f124fc4bbf2.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/57a7fef6a90d5691b13a2f124fc4bbf2/mesh/keyboard_69.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/57a7fef6a90d5691b13a2f124fc4bbf2/mesh/keyboard_69_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/5635c5ef5fa05d39932e73aa6bf4e162.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mesh/mouse_80.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mesh/mouse_80_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/5635c5ef5fa05d39932e73aa6bf4e162.urdf b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/5635c5ef5fa05d39932e73aa6bf4e162.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0567f0456a8a30c5ac3809e579fb4444d0defd4e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/5635c5ef5fa05d39932e73aa6bf4e162.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouse_80">
+   <link name="mouse_80">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/mouse_80.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/mouse_80_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>0.146567</scale>
+         <version>v0.1.5</version>
+         <category>mouse</category>
+         <description>ergonomic computer mouse with sleek black and blue design</description>
+         <min_height>0.05</min_height>
+         <max_height>0.08</max_height>
+         <real_height>0.065</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20251014204744</generate_time>
+         <gs_model>mesh/mouse_80_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.459748029708862</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</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/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/5635c5ef5fa05d39932e73aa6bf4e162.usd b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/5635c5ef5fa05d39932e73aa6bf4e162.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f69317e56c6ef21a21f24ce18cafebde76264f72
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/5635c5ef5fa05d39932e73aa6bf4e162.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c64ba803a87071746f8c731f7f0643e796f626db02b8d264b4fde0ed314aa20
+size 625537
diff --git a/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/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/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..06f6e0860a57ae40d9feb9963a33da068e4e0cc9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b004e99a4adea3ae897208b817ca19ae8cf3b8e29c08ba041f44c3af7dfbb2b
+size 1282821
diff --git a/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mesh/mouse_80.glb b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mesh/mouse_80.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f4a9615a2bbfea2fcc190e90b66c42ceece0ccf7
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mesh/mouse_80.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9644e1a48b72756b0ba80cceaa119d2270d039d753782c9edb24fd3f5d58c4e
+size 1717932
diff --git a/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mesh/mouse_80.obj b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mesh/mouse_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ddcdda634047f8130e43f7d58ff1221ab11f39a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mesh/mouse_80.obj
@@ -0,0 +1,39906 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mesh/mouse_80_collision.obj b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mesh/mouse_80_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2f4e33a2c3e101164c835175166d91c35c55391
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mesh/mouse_80_collision.obj
@@ -0,0 +1,9512 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mesh/mouse_80_gs.ply b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mesh/mouse_80_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a685d511920037c9751ce8e55663a590f2d454bd
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mesh/mouse_80_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3d69047fc3254bc0daa6b36aaf6bb8b395cfb2f271346e1561a92fa60248b6d
+size 16020842
diff --git a/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/5635c5ef5fa05d39932e73aa6bf4e162.xml b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/5635c5ef5fa05d39932e73aa6bf4e162.xml
new file mode 100644
index 0000000000000000000000000000000000000000..637946777b1ac0a59549f3909bf52c9f1227cb48
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/5635c5ef5fa05d39932e73aa6bf4e162.xml
@@ -0,0 +1,32 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouse_80">
+  <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/mouse_80.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mouse_80_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouse_80_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouse_80_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mouse_80_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mouse_80_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mouse_80_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mouse_80_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mouse_80_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mouse_80_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouse_80">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..06f6e0860a57ae40d9feb9963a33da068e4e0cc9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:2b004e99a4adea3ae897208b817ca19ae8cf3b8e29c08ba041f44c3af7dfbb2b
+size 1282821
diff --git a/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80.obj b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..754b160ae13025890821c70a7b8d1462e0191316
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision.obj b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85dffc868ae164943829d818c7bd24844d93d122
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision.obj
@@ -0,0 +1,9512 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd8aeae29e7add2150f1ba5025df4492f8549ade
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_0.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1992e2bd8f944f28e8177d9bcfa745bc386835a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e17d58413e20b980173f5d3a2103de79ab6b1bc8
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_2.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1ab9380c52edf22f7aae966b72759696566cf21
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_3.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b597b05978c1f978192f29c6237e9e43130a47d9
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_4.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..914ad95b1b352a8fce583197b96149d74a206240
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_5.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_6.obj b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20deaf6864f4b6f13d701b73bea3ac36fbe59a1b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_6.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_7.obj b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eee486d9d006c35db0aa5404fc28d4deb6b4213d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_7.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_8.obj b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dff8aa0fc3ab4f86f4a7a30b4fa2a1f7a662775
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/5635c5ef5fa05d39932e73aa6bf4e162/mjcf/mesh/mouse_80_collision_8.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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