diff --git a/.gitattributes b/.gitattributes
index fec4b4b5eb3c37a8f0b51ef323867fee091fd10e..8b54a6e4275fc4852595dcb6531e11501aa5f75d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2885,3 +2885,6 @@ dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mesh/vase_
 dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/vase_002.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mesh/phone_stand_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/phone_stand_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/4e21f563d5895442b41aad444647cdf2.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mesh/teacup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mesh/teacup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/4e21f563d5895442b41aad444647cdf2.urdf b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/4e21f563d5895442b41aad444647cdf2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1fe82b0274942d5a257adefdbca29d0c658a56eb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/4e21f563d5895442b41aad444647cdf2.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="teacup">
+   <link name="teacup">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/teacup.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/teacup_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>0.149641</scale>
+         <version>v0.1.7</version>
+         <category>teacup</category>
+         <description>red teacup with white polka dots and a curved handle</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120050611</generate_time>
+         <gs_model>mesh/teacup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.910965442657471</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/4e21f563d5895442b41aad444647cdf2.usd b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/4e21f563d5895442b41aad444647cdf2.usd
new file mode 100644
index 0000000000000000000000000000000000000000..842451cad75bcfe3c1c43f4cbf32f75ef2fe9376
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/4e21f563d5895442b41aad444647cdf2.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c833af9a5997fb1033fad567ef443ea9be9b3a74d138d1c58e0ebf30c0d84361
+size 637312
diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mesh/material.mtl b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mesh/material_0.png b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a790dd1a3a03a15c094bd4178104b121474bbf2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebb84e2bb7ebc41b637a9947d66e68546701bf682e2adacbfb705dacd7d97ad7
+size 1506727
diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mesh/teacup.glb b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mesh/teacup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..aaff9be62588e8eff88add2e232cda9eb6a3eb68
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mesh/teacup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66fd5be71386eddb1ffe21624eedc65fec2153e4d4b61a9e2e0c6e3c2be50104
+size 1934700
diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mesh/teacup.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mesh/teacup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..804d48f27bdf026069e6e30ed29b288e21227ab5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mesh/teacup.obj
@@ -0,0 +1,39018 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mesh/teacup_collision.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mesh/teacup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb3844c0c2d6d70477c441265f4d581d621ad5ab
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mesh/teacup_collision.obj
@@ -0,0 +1,19861 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mesh/teacup_gs.ply b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mesh/teacup_gs.ply
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/4e21f563d5895442b41aad444647cdf2.xml b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/4e21f563d5895442b41aad444647cdf2.xml
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+  </worldbody>
+</mujoco>
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:ebb84e2bb7ebc41b637a9947d66e68546701bf682e2adacbfb705dacd7d97ad7
+size 1506727
diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..348b2e1eca14679800df6b602ba395d26223a28b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96586cca1629d8ebe0c2753cbe4d229fbede8994
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision.obj
@@ -0,0 +1,19861 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_0.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dad93345fea69979a468b1f09744cf2a82050a4a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_1.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b22d9abb017785d2256abc9ca6d056f994a1121
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_1.obj
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_10.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fae68b904adad65414bb3c823dc275f2ff710d00
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_10.obj
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_11.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd5805199ae8001f5f8f661dc598bcc8f2734175
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_11.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_12.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ff87cba26c82b0ba69b9061fbbe26c3e98412fa
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_12.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_13.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..712861bdb8dc81f143f198ab5e57aec86b5627f6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_13.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_14.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..395eedc3d7bd4a7b69b861155222c732a4b6c633
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_14.obj
@@ -0,0 +1,697 @@
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_15.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99aaa212e72c0a7abb2c9f8242d9dec7a33c6aea
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_15.obj
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_16.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0b6af4b7146224eadea059a6dbe11c5414bb63d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_16.obj
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_17.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3740d0433b7e825149ec235ab09de14ae5ae8de3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_17.obj
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_18.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c60730de3806fbaf2ddb06eafce94ffc191d96b6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_18.obj
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_19.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef26c3437afe8048e5ea696b3f52fb8a5d8753e1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_19.obj
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_2.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90e7cc6676674d8667dbe6a0550dcc3a594dd005
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_2.obj
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_20.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a8e3b524e9c7594ace1fae1dbc3213e2b8eaac2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_20.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_21.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb00c536371f3f7269e6187b7b1ad80f3273abdb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_21.obj
@@ -0,0 +1,586 @@
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_22.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7854f165a85cad8a229e025b4e4114728d28a87a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_22.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_23.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96cb05bdc6f5a2a1b36bc81ac4e4ceefa5b4ffb2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_23.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_24.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a63ecfa00acee988a5a3a3be4e8894f96a80239
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_24.obj
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_25.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b868a87b940adbd74b5b48b8f909d9213263e445
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_25.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_26.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2b609a71271c0a3e2759106b69c9f29b8abcbff
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_26.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_27.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22f56b4dd92c8f7209b6fb52b88815146cc7aa3b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_27.obj
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_28.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..530a30a4a3d131e87b709a242d7e0df000d38670
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_28.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_29.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01ab2daba9901e046db8594ff7ff7e5d1b76d4d7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_29.obj
@@ -0,0 +1,631 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_3.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0debdbb2c127224bc0810847cbaacd23ff3936db
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_3.obj
@@ -0,0 +1,1195 @@
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_30.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d2551276945808452d820e7d15063c8f0c050d4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_30.obj
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_31.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89e81d6ebd7797584821b90496dd84cbfdd83519
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_31.obj
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_32.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95c5f4a23dea26ed3e1ca16a054a42fe36c3859a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_32.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_33.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3a9efa39f4cca5861b06552e9f9de5ab47be11a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_33.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_34.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9912ca4054433b30ed78d969e9e1b70633029bbd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_34.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_35.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5668512635682254f09ee491bf59c814b5af10c3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_35.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_36.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54c6693fa316b6c4c18a19d76d88fe1dbe297f84
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_36.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_37.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1a59752c7e223cbd592ffded618b213b300c721
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_37.obj
@@ -0,0 +1,16 @@
+# https://github.com/mikedh/trimesh
+v 0.01444936 -0.03602701 -0.04094733
+v 0.01444936 -0.04687671 -0.03168955
+v 0.01444936 -0.04687668 -0.04094737
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+f 1 2 3
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+
diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_38.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30144443105bd47290eedba0d05f53a368e10b5d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_38.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.00501614 0.05168781 0.02672359
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_39.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0b4104f086b8f3c589b7ab3301d7cc546b0e8d8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_39.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_4.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5559b2dc4c87af3694c215ec4b97bd9e96f6cc0f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_4.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_40.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e26b973255077473f6076dcfac491990b53058ee
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_40.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_41.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c856ca034b3e340438145bf00c30fb27b89355a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_41.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_42.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e29aaa5bbb8d628ea6f9b748d0d1f747888a4f0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_42.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_43.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e670aee16573316e730794c7a620062aee6f5ff6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_43.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_5.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..233ac5db99b58b4a26cdeb1583dfabd911d0b884
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_5.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_6.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8cb34109ac068c72021a1d66ad1a4f08a1f20fd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_6.obj
@@ -0,0 +1,685 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_7.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be25d8a77529b809b9ff249b56e79c90f6a8928d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_7.obj
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_8.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80f3cb86dbc9da44be2b5a8c34970529ff0f0230
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_8.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_9.obj b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f042ff9eeb0b2833b10f87b8c2ede16761f0a867
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/4e21f563d5895442b41aad444647cdf2/mjcf/mesh/teacup_collision_9.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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