diff --git a/.gitattributes b/.gitattributes
index f92e5c0af0356ddba4d600d828eb629cfc7e7cdd..00fb46723fb9a5a90ff1413a179773603dec9e06 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2963,6 +2963,5 @@ dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mesh/sauce
 dataset/desktop_supplies/decorations/f6081aabe52b56b8ae7acbae76d84604/f6081aabe52b56b8ae7acbae76d84604.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/f6081aabe52b56b8ae7acbae76d84604/mesh/chessboard.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/f6081aabe52b56b8ae7acbae76d84604/mesh/chessboard_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/fdc9b69a39fe5b8fb716101eda50fb59.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mesh/thermos.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/fdc9b69a39fe5b8fb716101eda50fb59/mesh/thermos_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mesh/phone_stand_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/phone_stand_002.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mesh/material.mtl b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9814e425ceee2f328b94921fac269c1f83863241
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl phone_stand_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 phone_stand_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mesh/material_0.png b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c4d2a50ad4216bafd07213cb4a64ef221c05886
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb7c78a9307d2b9048c6271f1fa1dc904a7799b898441ce2a3033f0d35a89e93
+size 8927413
diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mesh/phone_stand_002.glb b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mesh/phone_stand_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8d1ccbe7c7b6e3d3281a7d279f0586615310eef0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mesh/phone_stand_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2326f1af8ca41d42e155fe9c34b42ed95cf7a4c1f392e26cf1d79e5e5e9c14b7
+size 12237408
diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mesh/phone_stand_002.mtl b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mesh/phone_stand_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d24e94f6889e37b3ff08940509d49bd07541f9f3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mesh/phone_stand_002.mtl
@@ -0,0 +1,6 @@
+newmtl phone_stand_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/f74ee3e250b951d09031435aee94677a/mesh/phone_stand_002.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mesh/phone_stand_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad65f0c1c834deeac0f5a5ae51dcafed6be91430
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mesh/phone_stand_002.obj
@@ -0,0 +1,113526 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl phone_stand_002_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mesh/phone_stand_002_collision.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mesh/phone_stand_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19b8137c2d7e4a152acd20f9098aa85813b53c8d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mesh/phone_stand_002_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mesh/phone_stand_002_geometry_Looks_material_0.png b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mesh/phone_stand_002_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 8927413
diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/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/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002.obj
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+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_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/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bddf5f98198ae40e5148508f5f389354eb134995
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision.obj
@@ -0,0 +1,16575 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_0.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10a84509422b15051ad63d2c259bf8bfdaf48826
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_0.obj
@@ -0,0 +1,574 @@
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_1.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1d1d5797ae46ec5a5a8a05900c3f87fe4f87d9b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_1.obj
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_10.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acd6f5ea8fa234095aa341e762cd89159b06f533
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_10.obj
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_11.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e24800a5bdfd84d7db300bad392d56ac22115d98
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_11.obj
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_12.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..942df3ed12f4e23148dcfd274a808f465f011385
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_12.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_13.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..370c446c4809e45678ecf17f40bb4ffcaa0962d9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_13.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_14.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dbfec49beb7502e1b169a0fd19691ef7dec5f0f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_14.obj
@@ -0,0 +1,628 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_15.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78feb45bb79ad2cffd12abf4cc3f3bd55552562d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_15.obj
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_16.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2a55f17928788529709aed9eed1ca86dac70513
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_16.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_17.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ad9f2506a567692b9c911274a85b42f3786d27e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_17.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_18.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82bb6b2f7d797779d5b5a2137a3089be5c2dfe5e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_18.obj
@@ -0,0 +1,757 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_19.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df25b05436ce181b1c8e1f51c075838eb5ad4718
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_19.obj
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_2.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38eb8c4e25e338652c3dae131434e4b002fadc86
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_2.obj
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_20.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dd040f3a812dd8517af6e8d306d84aef29b7d8a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_20.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_21.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fa07e1bd05a174697ed0093c9c156bf750bce88
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_21.obj
@@ -0,0 +1,553 @@
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_22.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb4219afc01bb21d3385fb6f24e709dd1fe612dc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_22.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_23.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5748492327d8ccf95f35da87a91ed309e700e697
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_23.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_24.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee11cd32d365003d14e7b988c97502bd217c7aea
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_24.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_25.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c933a9e5a27050dc5b673fb1b656a551f1ba45b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_25.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_26.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7389e69aaa91f23240e8efd811bee6cc0ffa5097
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_26.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_27.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..274690345dc05c3eb1135d8bf3fb43534a584f85
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_27.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_28.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c7c8afc4cf5e601d754a6258289710a952b7e2e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_28.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_29.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..833eca5b52f27686973f62b908e2a454c7ecb54c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_29.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_3.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..291f832ef7885c9dfcc30e58c686a691c378fb86
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_3.obj
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_30.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acf63f73de7ba132564430d921748a8fac122d9d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_30.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_4.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..662fe467a43352fc424eab4c080aba35d76c1ff7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_4.obj
@@ -0,0 +1,874 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_5.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f47d0a1061421627b2c7d448b54f4478f42f5e79
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_5.obj
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_6.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c307e4fa4ae0b6a3c38781e4078b1ce58e603361
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_6.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_7.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e22a75130413837bbd542fd5078255f6b67b168f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_7.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_8.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..398f8ca73ddcac590d3c315d7f7139444e685cdc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_8.obj
@@ -0,0 +1,757 @@
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_9.obj b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25f27c2cf793e19e29f49f04a4ededd83ee02488
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/mesh/phone_stand_002_collision_9.obj
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diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/phone_stand_002.xml b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/phone_stand_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..876fb5baf6b8ee1cf4ff0a624c80557d5d4818a9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/mjcf/phone_stand_002.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_27" file="mesh/phone_stand_002_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/phone_stand_002_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/phone_stand_002_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/phone_stand_002_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="phone_stand_002">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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/f74ee3e250b951d09031435aee94677a/phone_stand_002.urdf b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/phone_stand_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..949f83ea7fa6efda7f6183a28abe662d077c5c35
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/phone_stand_002.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="phone_stand_002">
+   <link name="phone_stand_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/phone_stand_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/phone_stand_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.70</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>1.000000</scale>
+         <uuid>f74ee3e250b951d09031435aee94677a</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>decorations</super_category>
+         <category>phone_stand</category>
+         <name>adjustable phone stand</name>
+         <color>black</color>
+         <shape>L-shape</shape>
+         <material>plastic</material>
+         <description>black adjustable phone stand with circular base and angled support arm</description>
+         <min_height>0.0843</min_height>
+         <max_height>0.0843</max_height>
+         <real_height>0.0843</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420200332</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>7</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/phone_stand_002.usd b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/phone_stand_002.usd
new file mode 100644
index 0000000000000000000000000000000000000000..376ccd385c9ade05b624092fde5115ed41403071
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/phone_stand_002.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2406df81e11f33cf178562640ec9ff574a5e53239645f3601aa2b7459ab6a0df
+size 4893150
diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/textures/material_0.png b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c4d2a50ad4216bafd07213cb4a64ef221c05886
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb7c78a9307d2b9048c6271f1fa1dc904a7799b898441ce2a3033f0d35a89e93
+size 8927413
diff --git a/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/video.mp4 b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..86eb49d74f82c27e9aa5b64c7b56153e8b26999a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f74ee3e250b951d09031435aee94677a/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7d1943777fe31281af0dd51fe5f141a5aff797d6b9696deefdb917bc48b1d53
+size 265063