diff --git a/.gitattributes b/.gitattributes
index 2e122c6fe70d9e68b630018aae4b4fd5c332bc7e..02826b9cad75030328c7cce6dde3d7ed346c37eb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2872,3 +2872,5 @@ dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacu
 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
+dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mesh/mini_sculpture_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mini_sculpture_001.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mesh/material.mtl b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..61ead6aca6fd5df6e67ba8c1de48ce5faa66aefe
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mini_sculpture_001_geometry_Looks_material_0
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+Ns 1.00000000
+map_Kd mini_sculpture_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mesh/material_0.png b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..930ef6886d9ed9417e427aa94d67f0cd7e1cd55a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mesh/mini_sculpture_001.glb b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mesh/mini_sculpture_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4a63bf183187d9afb10fc60648eeb07e178e4d83
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mesh/mini_sculpture_001.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mesh/mini_sculpture_001.mtl b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mesh/mini_sculpture_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4cd51db80eb6373c7dcc71df71471cb18993b7b2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mesh/mini_sculpture_001.mtl
@@ -0,0 +1,6 @@
+newmtl mini_sculpture_001_geometry_Looks_material_0
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+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/1e642c3f97d259d2a85a5942741dc448/mesh/mini_sculpture_001.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mesh/mini_sculpture_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2478c8a3decf035d29c72ef3c7cff3d152ca158f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mesh/mini_sculpture_001.obj
@@ -0,0 +1,106382 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mini_sculpture_001_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mesh/mini_sculpture_001_collision.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mesh/mini_sculpture_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a56fc1c8559a75440974f70d0f90bad24e299ca
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mesh/mini_sculpture_001_collision.obj
@@ -0,0 +1,18694 @@
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mesh/mini_sculpture_001_geometry_Looks_material_0.png b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mesh/mini_sculpture_001_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..930ef6886d9ed9417e427aa94d67f0cd7e1cd55a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mesh/mini_sculpture_001_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cef86ddc643364fae68fbd0f1cae50030a1cdc73e5b281e22629c5c855ddbf38
+size 8506346
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mini_sculpture_001.urdf b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mini_sculpture_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8e3d783247119be9e9dbafa85a1fa22869b2523a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mini_sculpture_001.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mini_sculpture_001">
+   <link name="mini_sculpture_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mini_sculpture_001.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mini_sculpture_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.60</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>1e642c3f97d259d2a85a5942741dc448</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>decorations</super_category>
+         <category>mini_sculpture</category>
+         <name>abstract sculpture</name>
+         <color>black</color>
+         <shape>irregular</shape>
+         <material>ceramic</material>
+         <description>black abstract sculpture with smooth curves on a circular base</description>
+         <min_height>0.0990</min_height>
+         <max_height>0.0990</max_height>
+         <real_height>0.0990</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420195630</generate_time>
+         <gs_model>""</gs_model>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+         <tags>is_graspable</tags>
+      </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/1e642c3f97d259d2a85a5942741dc448/mini_sculpture_001.usd b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mini_sculpture_001.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7e5d9d84c663e24a32d2fcfb4cdb893cc30200e8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mini_sculpture_001.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5527fe653502e47591a11dc73e658b28ec8d448048b0465021d416965e91aa9
+size 4977067
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..930ef6886d9ed9417e427aa94d67f0cd7e1cd55a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cef86ddc643364fae68fbd0f1cae50030a1cdc73e5b281e22629c5c855ddbf38
+size 8506346
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10640c6baec354b0a2ad59df1d7deadd9aa16b32
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001.obj
@@ -0,0 +1,106382 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mini_sculpture_001_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b291c1e35d5e1f658a9654f57b3daea98b9cac1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision.obj
@@ -0,0 +1,18694 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_0.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..540aeb359eefb0c305188df83aeda4b6acbf73a1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_1.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..997a59b94a1cf2d9823b1be70980ac9e51846786
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_1.obj
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_10.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eedf84c3417d14774f92660a133e671a39c65ea5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_10.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_11.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0380002a0b90b21475b3c9050b3581a0bd664157
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_11.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_12.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..553ae4652fe0d5c8c3686d0d113718722bf26f18
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_12.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_13.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3de2666e3f3685f2f2301244e2f59426ad564c4d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_13.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_14.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab9d4c863aef26d656717b5a112a1264ed2a335d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_14.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_15.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d115bedaf408b56818feab97af6bd1d6abfb1f21
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_15.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_16.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a28e450979b837f652fc315fdc576e304ad0583
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_16.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_17.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69d1b81605ee505c2fc0629ada4bdd8f1cc74c2f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_17.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_18.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2bc69a076870cabd1c13574b47c38f1d84cfa11
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_18.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_19.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..215dc1819d02df9a76607a764db7d2a638821fcb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_19.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.00408085 0.00900968 0.01236687
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+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_2.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f26d1a1a91c134d481e1299a19184e4bc8e15075
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_2.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_20.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdbc9ea1f23c61ef1142ae83bbb809b43ce1e68d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_20.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_21.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b2929550ca77ec3251913367fce8edd12243995
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_21.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_22.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6178fa8cf7f7c4abe05807accf2ed2fce49e0629
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_22.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_23.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e72275384272f364113d26d974566a856c50ac5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_23.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_24.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a6e7c7dc5edcd6aabdfa890d5566e5f587089c5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_24.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_25.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e9dba2eb099477cc9bc7d5102145df68aea1951
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_25.obj
@@ -0,0 +1,715 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_26.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eab5abb1a1e7b6339b75c3e5445e99ea2e316a6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_26.obj
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_27.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c45b169998a1b11094100675d94da10ff456e2f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_27.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.00538522 0.01486661 -0.00759029
+v -0.00488580 0.01411131 -0.00759029
+v -0.00390176 0.00914862 -0.01141017
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+v -0.00538522 -0.00986460 -0.00759038
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+v -0.00390176 0.01218917 -0.00759030
+v -0.00390176 -0.00967092 -0.01141024
+v -0.00538522 -0.00830316 -0.01141023
+v -0.00390176 -0.00914803 -0.00759037
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+f 3 6 7
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+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_28.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16d181ceb2a199be07f5f7fb78a94a7563b5a2d6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_28.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.02888402 0.00049130 0.02007776
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+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_29.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..183b50319c6edd5ce63d488ae7fc7b6508f08c3f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_29.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.02138063 -0.00926819 0.01898730
+v 0.02097127 -0.01091341 0.01898729
+v 0.02135823 -0.00926819 0.01889625
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_3.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1182add42ab2a8871e4b3b0a10de16dee9140e78
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_3.obj
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+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_30.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdfd18b83fc63d20c6140c00bf18c260c8ea666d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_30.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.00057282 -0.00926819 0.01898730
+v 0.00057282 -0.01353472 0.01898728
+v 0.00057282 -0.00926819 0.01856066
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+v -0.00812070 -0.02351675 0.01799163
+v -0.00812070 -0.02455000 0.01774866
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+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_31.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5041169a8e713dd691c0f96cfb84855295b5d4ae
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_31.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v -0.00049541 -0.01045352 -0.00758978
+v -0.00049541 -0.00960303 -0.00527487
+v -0.00049541 0.00620236 -0.00758972
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+v 0.00644485 -0.01561027 -0.00527489
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+v 0.01511619 0.00620235 -0.00527481
+v 0.00029603 -0.02504164 -0.00758983
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+v 0.00482228 -0.02231625 -0.00583829
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+v 0.01540735 0.00620235 -0.00538563
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+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_32.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8abec4efbd4a4326eb7a64b24bc3981c36024199
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_32.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00507013 0.00620049 0.00118884
+v 0.00507013 -0.01180944 0.00118878
+v 0.00507013 0.00620050 -0.00339926
+v -0.01245125 0.00620049 0.00118884
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+v -0.01430645 -0.01255297 0.00118877
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+v -0.02368554 -0.01091168 -0.00322956
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+v -0.01502792 -0.00601909 0.00118880
+v -0.01499643 -0.00430622 0.00118880
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+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_33.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08dee137a1ac2194ec0e532863673c3fd9b95b9e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_33.obj
@@ -0,0 +1,637 @@
+# https://github.com/mikedh/trimesh
+v -0.00050003 -0.01254889 -0.00339913
+v 0.00343058 -0.01255351 0.00118877
+v -0.00050003 -0.01254889 -0.00350568
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_34.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08e862687fb9dff0b48ae611185d289182890721
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_34.obj
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+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_35.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a72d00e7ef8e532dc884551a1aab8e5b0638a8d6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_35.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.00068027 0.01616953 0.02007782
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+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_36.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdf8e30ada7eaaac2936b48071152a057ffc303e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_36.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.00049541 0.00620083 -0.00339967
+v -0.00049541 0.00620085 -0.00758995
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+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_37.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5e701b54549968fa3f711ff43f90d9890b6f16c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_37.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v -0.01647757 -0.02093958 0.01392322
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+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_38.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4650de23bbf77b9ab8c1a10c9c8c2a46a96fca3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_38.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v -0.00390176 0.00915001 -0.01141036
+v -0.00390176 0.01194996 -0.01340262
+v -0.00538522 0.00881543 -0.01141036
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+v -0.00390176 -0.02402308 -0.01340275
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+v -0.00538522 -0.00956554 -0.01340270
+v -0.00390176 -0.02394560 -0.01334093
+v -0.00391730 -0.02394560 -0.01340275
+f 1 2 3
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+f 3 5 10
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+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_39.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e29294cbbfd051fba03db979925a25297707b4b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_39.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_4.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2126671f48bed312c97c4b0ee32d103f55b441c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_4.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.00789433 0.00996907 -0.01710129
+v -0.00789433 0.01025078 -0.01748857
+v -0.01652851 0.00840922 -0.01710130
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_40.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e334a9fc030f10158cce10b1fda526a7fb7995b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_40.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_41.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15aaab73fab07eade65e0686f4c967e74f8f4b2c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_41.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_42.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2410789c6726a45d28e77f13185a3adda67d5e11
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_42.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_43.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7270fc1fdc1df440421d7f5b0985c3d5c83b9872
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_43.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.00050839 -0.02346292 0.01442542
+v 0.00407924 -0.00960353 0.01442547
+v 0.00407924 -0.01214858 0.01774871
+v 0.00050839 -0.02260522 0.01464828
+v 0.00050839 0.01278871 0.01442556
+v 0.00407924 0.01739381 0.01442557
+v 0.00050839 -0.02171546 0.01484641
+v 0.00407924 0.01748196 0.01774881
+v 0.00159915 -0.00916268 0.01774872
+v 0.00050839 0.01271254 0.01774880
+v 0.00374083 0.01716534 0.01774881
+v 0.00050839 -0.00725491 0.01774872
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 12
+f 1 12 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 3
+f 3 7 4
+f 3 8 11
+f 3 11 10
+f 3 10 12
+f 3 12 9
+f 3 9 7
+f 5 10 11
+f 5 11 6
+f 6 11 8
+f 7 9 12
+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_44.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..436ac772e573d2fb3428fa7c6d1f682547a6c0b7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_44.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v -0.00326971 0.02778916 -0.00192352
+v -0.00326971 0.02769138 -0.00209975
+v -0.00488762 0.02765364 -0.00211433
+v -0.00488762 0.02771711 -0.00192352
+v -0.00164624 0.02774284 -0.00192352
+v -0.00488762 0.02682338 -0.00293432
+v -0.00165181 0.02766565 -0.00202991
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+v -0.00973855 0.02595367 -0.00359875
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+v -0.00651667 0.02756101 -0.00192352
+v -0.00003669 0.02757988 -0.00192352
+v -0.00326971 0.02669473 -0.00291974
+v -0.00488762 0.02601028 -0.00357830
+v -0.00650553 0.02606003 -0.00363443
+v -0.00812065 0.02603944 -0.00364596
+v -0.00003390 0.02757817 -0.00192548
+v -0.00973855 0.02524693 -0.00414593
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+v -0.01098610 0.02584389 -0.00350325
+v -0.00744118 0.02746838 -0.00192352
+v -0.00000884 0.02757645 -0.00192352
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+v -0.00812065 0.02531898 -0.00414593
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+v -0.01297437 0.02462939 -0.00414593
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+v -0.01206377 0.02571694 -0.00330201
+v -0.00766396 0.02742892 -0.00192352
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+v -0.00233963 0.02577870 -0.00341601
+v -0.00453953 0.02492787 -0.00414593
+v -0.01459227 0.02406158 -0.00414593
+v -0.01459227 0.02440123 -0.00375475
+v -0.01550565 0.02417822 -0.00349999
+v -0.01236730 0.02584217 -0.00220876
+v -0.01145671 0.02605660 -0.00268347
+v -0.01236730 0.02584217 -0.00192353
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+v -0.01731013 0.02273385 -0.00293107
+v -0.01762759 0.02233931 -0.00414594
+v -0.01897259 0.02119171 -0.00414594
+v -0.01535806 0.02405814 -0.00192353
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+v 0.00614254 0.02364130 -0.00192353
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+v -0.02154286 0.01026626 -0.00414598
+v -0.01706786 0.02228098 -0.00192354
+v -0.01684230 0.02251599 -0.00192354
+v -0.01888070 0.02113852 -0.00309359
+v -0.01973281 0.02034772 -0.00414595
+v 0.00614254 0.01171920 -0.00192358
+v 0.00547143 0.01026625 -0.00192358
+v -0.02094972 0.01026625 -0.00379397
+v -0.02094972 0.01028341 -0.00378961
+v -0.02130616 0.01189589 -0.00370150
+v -0.02181855 0.01114798 -0.00414598
+v -0.01815389 0.02023964 -0.00192355
+v -0.02030368 0.01930303 -0.00334075
+v -0.02045405 0.01946772 -0.00414595
+v -0.01700938 0.01026625 -0.00192358
+v -0.02092188 0.01026625 -0.00377765
+v -0.02033431 0.01083920 -0.00335384
+v -0.02151223 0.01352553 -0.00359706
+v -0.02216385 0.01255805 -0.00414597
+v -0.02201069 0.01189590 -0.00414598
+v -0.02049582 0.01189589 -0.00327051
+v -0.02070467 0.01352553 -0.00315672
+v -0.01832376 0.02004065 -0.00198317
+v -0.01822073 0.02004065 -0.00192355
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+v -0.02181576 0.01678310 -0.00414596
+v -0.02049025 0.01841273 -0.00319107
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+v -0.01944599 0.01352553 -0.00256669
+v -0.01944599 0.01189589 -0.00278361
+v -0.01782808 0.01026625 -0.00228778
+v -0.01956573 0.01026625 -0.00308384
+v -0.01954067 0.01026625 -0.00307144
+v -0.02160413 0.01515345 -0.00358269
+v -0.02226967 0.01352554 -0.00414597
+v -0.02079378 0.01515345 -0.00307403
+v -0.01944599 0.01515345 -0.00239480
+v -0.01944599 0.01841273 -0.00244288
+v -0.01838224 0.01941968 -0.00192355
+v -0.02209145 0.01584306 -0.00414596
+v -0.02153451 0.01678309 -0.00379634
+v -0.02072695 0.01678309 -0.00305554
+v -0.01832933 0.01515345 -0.00192356
+v -0.02221676 0.01515346 -0.00414596
+v -0.02230587 0.01405389 -0.00414597
+v -0.01944599 0.01678309 -0.00231387
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+v -0.01861894 0.01678309 -0.00192356
+v -0.01862451 0.01841273 -0.00192355
+v -0.01866628 0.01808852 -0.00192355
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+f 98 109 99
+f 98 102 109
+f 100 102 101
+f 102 106 110
+f 102 110 109
+f 106 108 110
+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_45.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e19202574a292ae351c18f90b1b0463b6f75dd4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_45.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.00614255 0.01026629 -0.00414598
+v 0.00985423 0.01026629 -0.00414598
+v 0.00614255 0.01026628 -0.00237524
+v 0.00614255 0.02197380 -0.00414594
+v 0.01072403 0.01879431 -0.00192355
+v 0.01034120 0.01814167 -0.00192355
+v 0.00633176 0.01186125 -0.00192358
+v 0.01302687 0.02166667 -0.00414594
+v 0.01307014 0.02329827 -0.00257513
+v 0.01257437 0.02258804 -0.00192354
+v 0.01233895 0.02193540 -0.00192354
+v 0.01203973 0.02121644 -0.00192354
+v 0.00614255 0.01171990 -0.00192358
+v 0.00614255 0.02347452 -0.00222159
+v 0.00647477 0.02318486 -0.00414593
+v 0.01347497 0.02337332 -0.00414593
+v 0.01329309 0.02492815 -0.00257513
+v 0.01276432 0.02329827 -0.00192353
+v 0.00614255 0.02364205 -0.00192353
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+v 0.01363412 0.02503460 -0.00414593
+v 0.01289853 0.02492815 -0.00192353
+v 0.01287359 0.02409750 -0.00192353
+v 0.01332756 0.02648823 -0.00414592
+v 0.01271225 0.02654231 -0.00259666
+v 0.01248196 0.02617934 -0.00192352
+v 0.01142222 0.02626485 -0.00192352
+v 0.01043654 0.02740786 -0.00335704
+v 0.00989237 0.02775513 -0.00414592
+v 0.00866174 0.02653185 -0.00414592
+v 0.00805963 0.02563839 -0.00414593
+v 0.01330263 0.02655628 -0.00414592
+v 0.01233969 0.02754397 -0.00315754
+v 0.01129167 0.02752652 -0.00318843
+v 0.01129167 0.02809192 -0.00414592
+v 0.01252377 0.02774291 -0.00414592
+f 1 2 3
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+f 1 14 4
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+f 1 20 31
+f 1 31 30
+f 1 30 29
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+f 1 16 8
+f 1 8 2
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+f 32 36 33
+f 33 36 35
+f 33 35 34
+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_46.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..040a2919a710546e715e6a351417a2dc185013cc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_46.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00001099 0.02435683 0.01392741
+v 0.00001099 0.02435683 0.01492741
+v 0.00001099 0.02535683 0.01392741
+v 0.00001099 0.02535683 0.01492741
+v 0.00101099 0.02435683 0.01392741
+v 0.00101099 0.02435683 0.01492741
+v 0.00101099 0.02535683 0.01392741
+v 0.00101099 0.02535683 0.01492741
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_47.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cb688750533f36eefe1c8e96b396e68bb6c9f9c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_47.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.01511705 0.00620020 -0.00527481
+v 0.01451719 0.00620020 -0.00501581
+v 0.02491567 -0.00524317 -0.00421532
+v 0.02563604 -0.00600263 -0.00421532
+v 0.02517275 -0.00504365 -0.00480976
+v 0.02395697 -0.00353546 -0.00527484
+v -0.00049541 0.00620020 -0.00527481
+v 0.01289703 0.00620020 -0.00432813
+v 0.01261584 0.00620020 -0.00421528
+v 0.02648495 -0.00734348 -0.00421533
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+v -0.00049541 -0.00960255 -0.00527487
+v -0.00049541 0.00620020 -0.00421528
+v 0.02679291 -0.00815658 -0.00421533
+v 0.02603238 -0.00649177 -0.00527485
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+v -0.00049541 -0.01046928 -0.00421534
+v 0.00644317 -0.01560958 -0.00527489
+v 0.02686254 -0.00917134 -0.00421533
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_48.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fecedcc859d4ead3f615db9015b17042b9043f6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_48.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_49.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..121969e10629ab9fe84e9c31e7ab2d2eb60c11cc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_49.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_5.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1f02263e4b14399b300ff760f0c9beb5a4eb789
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_5.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_50.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be6ff4d3a5f5179a2bc4750b14158840ded29eb3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_50.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00215299 -0.01286292 -0.00430730
+v 0.00215299 -0.01286292 -0.00330730
+v 0.00215299 0.00620048 -0.00430730
+v 0.00215299 0.00620048 -0.00330730
+v 0.02704830 -0.01286292 -0.00430730
+v 0.02704830 -0.01286292 -0.00330730
+v 0.02704830 0.00620048 -0.00430730
+v 0.02704830 0.00620048 -0.00330730
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_51.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaf85c82b10c89fee7790ca26e83f9f4254a3a5d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_51.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00201912 0.01474043 -0.00536035
+v 0.01235699 0.01474043 -0.00536035
+v 0.00201912 0.01474043 -0.00414619
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+v 0.01075980 0.01515456 -0.00414618
+v 0.01060978 0.01474043 -0.00414619
+v 0.01353296 0.02168045 -0.00536032
+v 0.01347525 0.02337350 -0.00414615
+v 0.01302633 0.02166692 -0.00414616
+v 0.01250125 0.02005913 -0.00414617
+v 0.00201912 0.01984530 -0.00414617
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+v 0.01121449 0.02848107 -0.00536030
+v 0.01251509 0.02778816 -0.00536030
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+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_52.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..134df8cc96960a670104e7150d1a8fdd806d5f7d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_52.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00049541 -0.01307065 -0.00430720
+v -0.00049541 -0.01307065 -0.00330721
+v -0.00049541 0.00620046 -0.00430720
+v -0.00049541 0.00620046 -0.00330721
+v 0.00215055 -0.01307065 -0.00430720
+v 0.00215055 -0.01307065 -0.00330721
+v 0.00215055 0.00620046 -0.00430720
+v 0.00215055 0.00620046 -0.00330721
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_6.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..364d6fce65bdab2eb913c42b6a65dc883cbaebc7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_6.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.01653029 0.00840960 -0.01710130
+v -0.01653029 0.00716554 -0.02363027
+v -0.01823181 0.00831592 -0.01710130
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+v -0.01946691 0.00814172 -0.01710130
+v -0.01653029 0.00677439 -0.02546166
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+v -0.01653029 -0.00664934 -0.02238171
+v -0.02065443 0.00792643 -0.01710130
+v -0.01653029 0.00673167 -0.02561552
+v -0.02157329 0.00769305 -0.01710130
+v -0.02106396 0.00782289 -0.01710130
+v -0.01944639 -0.00832075 -0.01710136
+v -0.01653029 -0.00617766 -0.02377874
+v -0.01653029 0.00665771 -0.02585517
+v -0.02270951 0.00725261 -0.01710130
+v -0.01653029 0.00621234 -0.02717594
+v -0.02102198 -0.00813669 -0.01710136
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+
diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_7.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9001b34f66d9ff84718389b5dee81499cb697ab5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_7.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
+v 0.00452545 -0.01805423 0.00672240
+v 0.00452545 -0.01768892 0.00585087
+v 0.00856930 -0.02359014 0.00672238
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+v 0.02334628 0.00612201 0.00672249
+v 0.02694477 -0.00942720 0.00118879
+v 0.02242216 0.00703061 0.00601834
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_8.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb84cc9f20d582a143e2aaf2a1ef6de053313dbc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_8.obj
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_9.obj b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ba3de7f082b3f8b2d2b1af3096204331f8957ae
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mesh/mini_sculpture_001_collision_9.obj
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mini_sculpture_001.xml b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mini_sculpture_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a99d0cb41f7b45b95789b6ec3a65e3c8e93862b9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/mjcf/mini_sculpture_001.xml
@@ -0,0 +1,120 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mini_sculpture_001">
+  <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/mini_sculpture_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mini_sculpture_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mini_sculpture_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mini_sculpture_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mini_sculpture_001_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mini_sculpture_001_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mini_sculpture_001_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mini_sculpture_001_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mini_sculpture_001_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mini_sculpture_001_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mini_sculpture_001_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/mini_sculpture_001_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/mini_sculpture_001_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_15" file="mesh/mini_sculpture_001_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_52" file="mesh/mini_sculpture_001_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mini_sculpture_001">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/textures/material_0.png
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diff --git a/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/video.mp4 b/dataset/desktop_supplies/decorations/1e642c3f97d259d2a85a5942741dc448/video.mp4
new file mode 100644
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