diff --git a/.gitattributes b/.gitattributes
index 5f1e86008d6e6e8300576ba524be09f55b6e6bd1..c116fbe541bdfeca0ac9577d68f050986c26da44 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2906,3 +2906,4 @@ dataset/desktop_supplies/decorations/751e9255275657fc8b94db3559a4b9de/mesh/glass
 dataset/desktop_supplies/decorations/792fd01039ab5105a7ec70a33a4457a5/792fd01039ab5105a7ec70a33a4457a5.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/792fd01039ab5105a7ec70a33a4457a5/mesh/chess_pawn.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/792fd01039ab5105a7ec70a33a4457a5/mesh/chess_pawn_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/79ace9036ba95bb9ab392319288b8d24.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/79ace9036ba95bb9ab392319288b8d24.urdf b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/79ace9036ba95bb9ab392319288b8d24.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1a45f89661a0f519e4f9b4920437bf5b04cfd4f6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/79ace9036ba95bb9ab392319288b8d24.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="phone_stand_99">
+   <link name="phone_stand_99">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/phone_stand_99.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/phone_stand_99_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>0.175000</scale>
+         <version>v0.1.5</version>
+         <category>phone stand</category>
+         <description>adjustable white phone stand with a tilted backrest and sturdy base</description>
+         <min_height>0.15</min_height>
+         <max_height>0.2</max_height>
+         <real_height>0.175</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20251014220605</generate_time>
+         <gs_model>mesh/phone_stand_99_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.646185755729675</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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/79ace9036ba95bb9ab392319288b8d24.usd b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/79ace9036ba95bb9ab392319288b8d24.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e7e22454fa46f9959383a54606b684520fd0c984
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/79ace9036ba95bb9ab392319288b8d24.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d447396bc520b11db868e5866768bbd24026ccc0432046d1f2584b27f8b8ada3
+size 368379
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mesh/material.mtl b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/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/79ace9036ba95bb9ab392319288b8d24/mesh/material_0.png b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d819a2d9d4923a3ebe251238ec511ac1666d1e6c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d30a6fea0f4922adb100b34c416a94c328f386d06dd50638270be544f633254e
+size 968402
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mesh/phone_stand_99.glb b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mesh/phone_stand_99.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e8f01881d1dfdb7f6712289a3cfb8ac0f31ea041
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mesh/phone_stand_99.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d27ac6666fdd5eed4eb3da9babe31aeac7d87b0640834c7d72408f5d4ebbba3
+size 1232856
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mesh/phone_stand_99.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mesh/phone_stand_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..000c228b4aa7796c743ec7200d53fd977a9e090e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mesh/phone_stand_99.obj
@@ -0,0 +1,24342 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mesh/phone_stand_99_collision.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mesh/phone_stand_99_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e788c98ef802071ef26974c0f8bcb3b052c1775c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mesh/phone_stand_99_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/79ace9036ba95bb9ab392319288b8d24.xml b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/79ace9036ba95bb9ab392319288b8d24.xml
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99.obj
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc517ef61d855f5551fbbdc4379445f60870c5f9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision.obj
@@ -0,0 +1,21037 @@
+# https://github.com/mikedh/trimesh
+
+o phone_stand_99_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_0.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99bf9a2f0b31209a521fd0d62d312a85359745c5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_1.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de5e7fb930a3566fb9a5f63f76b8c0d9ddc3199a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_1.obj
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_10.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f12eeea360b1c913cbd99b80a70dc27d07a4022
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_10.obj
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_11.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bea8b2c61378249ea2d719218027818aa662e5c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_11.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_12.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fd52661a597472f55ae7a6fe98dfbe0d54fd21a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_12.obj
@@ -0,0 +1,784 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_13.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa1cc19b47cc63a2d39620f5f56a85568233f808
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_13.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.01738248 -0.02324102 0.00685203
+v -0.01738248 -0.00017072 0.00685212
+v -0.02930102 -0.02324102 0.00685203
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+v -0.02930102 -0.00017072 0.00685212
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+v -0.02930102 -0.02324095 -0.01091461
+v -0.01797986 -0.02324091 -0.02134389
+v -0.01738248 -0.00724866 -0.02166782
+v -0.02930102 -0.00017065 -0.01040060
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+f 2 10 5
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+f 6 8 7
+f 6 7 10
+
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_14.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbd465f071560c0ecc31261994a9ea7adcc17f2c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_14.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.04320197 -0.04834407 -0.07280220
+v 0.04320197 -0.04834407 -0.07180219
+v 0.04320197 -0.02843769 -0.07280220
+v 0.04320197 -0.02843769 -0.07180219
+v 0.05457368 -0.04834407 -0.07280220
+v 0.05457368 -0.04834407 -0.07180219
+v 0.05457368 -0.02843769 -0.07280220
+v 0.05457368 -0.02843769 -0.07180219
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+
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_15.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c939fe887a38a9583bc3688f982fc1bad9abf4df
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_15.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_16.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38adb51dcb6c33c6b67f5b83d9322eb43ccb8759
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_16.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_17.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3a47a1dcf788b7d921a60bd9e52ca00e582dcea
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_17.obj
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_18.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a47ecb1d55003d2f24a0f07d8cf27a8332a0a95
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_18.obj
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_19.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a889330c5346cd48d469506da15df0336ee93a9a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_19.obj
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_2.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fd11cc71577483ff8e4c9525449c07a2557c83b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_2.obj
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+
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_20.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8bbbed4e9a4b20cae2414fff2c2dc2e83b93bd0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_20.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_21.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..735cad43bd9d7e9675e27a0a2fcf33bfa7d62ca5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_21.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_22.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0ba5a2bb4ebe8995cfd5b191fc087d0fbaf6cd6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_22.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.01738131 0.02032671 -0.01157968
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+
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_23.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbd05cd33b2152854162d964af59252eeec1a73e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_23.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_24.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afc8341a0042198465bdf34ea055ad4c2160838f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_24.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_25.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abf684e69fa2b07efd7ac019df9a8a545265ff20
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_25.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_26.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8aaefb2d5c069baed9ad1b042f0dfb0d67a6e13
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_26.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_27.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54e41adbc17d808f960f2382a3d3a8e71470cd86
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_27.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+v -0.07361953 0.02623423 -0.06979897
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+v -0.07584796 0.02736718 -0.06979897
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+
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_28.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fdf42c8e6bc94f97bf4a8aedf1f6276b2ec7b36
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_28.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.03805563 -0.05892727 -0.08801825
+v -0.03566733 -0.05892727 -0.08800665
+v -0.03805563 -0.05942036 -0.08801825
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+v -0.03278510 -0.06440657 -0.08724780
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+v -0.02767413 -0.05128138 -0.07512344
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_29.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71191dad4c14eb3af5bc5d22a98562b97d43989a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_29.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.05158375 -0.02346062 -0.07275364
+v 0.05158375 -0.02103758 -0.07134017
+v 0.05081653 -0.02104452 -0.07133077
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+
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_3.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e13324c03fbb0b90673d354cb33d41cda24149e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_3.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
+v 0.02487228 0.05561707 -0.06979856
+v 0.02760182 0.05536529 -0.06979856
+v 0.02399853 0.05560393 -0.06979856
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_30.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69ddd5f423d963365d3cf8d32a9ad0887476618f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_30.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_31.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d4c6f2b4b3efe8b6eb64ab438e6e85d7041ee4c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_31.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_32.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b9a769a5f31f02bbd40965f9cacae6575a6a5c1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_32.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_33.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84bc8eeab50b6884eefd2dcfd10a05dd810fb3d4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_33.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_34.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12b372b5c1f83b49bc66f21614cc3583f0ad568e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_34.obj
@@ -0,0 +1,532 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_35.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b7c790e7332fccab46bd6c8835cca4bf8e61a82
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_35.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.04320366 -0.06441307 -0.07284464
+v 0.04320366 -0.06441307 -0.07184464
+v 0.04320366 -0.04834406 -0.07284464
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+v 0.06051517 -0.04834406 -0.07184464
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+
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_36.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c3b4640e41ddb6e28839b3e7049fa24d3da3634
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_36.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_37.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..316b0a67a13f99f7bbbf8856619bcc0808014810
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_37.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_38.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48f171a74c173bc703b4bde71bae6a05a649a87f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_38.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.03694235 0.04443291 -0.05343968
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_39.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1110590004a52cf9e6eaf9b35019ab3ffb133fcc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_39.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_4.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..572e7b867c248f4f800629ce22c2396b7fe0aab2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_4.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_40.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..321ba02542ead238c20c72f76dd6bf9144d7bbb0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_40.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_41.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fed30e946c361bcd949d80d5ca3ef94402d2023
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_41.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_42.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5796585dfa0f8e2d0e15fa85e7aeb9d2b4c09f6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_42.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_43.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8ef2538b87aaa07687e834078f50f4da4a0af5a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_43.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_44.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cabfb93fb83121336dfcb39c426a52bb68723ae
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_44.obj
@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_45.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..941739c450191086593169b0c488ba0bf6f0629d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_45.obj
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_46.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58a0356614c93f2dfa2dec9e71f9d7b033a46740
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_46.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_47.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2f7f91d87e4fa641b5d423a056b7da1a1e82a1e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_47.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_48.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95ba6684be203688b6e2aa721766cb7f1bc1cae3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_48.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_49.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4499867b4862fef522edad97f5f33688540bb92a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_49.obj
@@ -0,0 +1,484 @@
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_5.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a40f4c3de1fa191d0b5be36eba1900a849c66637
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_5.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.06293896 -0.03425241 -0.07305792
+v 0.06293896 -0.03425241 -0.07205792
+v 0.06293896 -0.02754308 -0.07305792
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+
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_50.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be4a272eb63b284c9f5c81363115b42bfb05e6e6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_50.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_51.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..049ff3dfb01a4991649c8a9f6efaa25149e77db1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_51.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_52.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08a06657e1e5dd01f4fffd610d94f4170cc6e386
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_52.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_53.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..079468ff1644ba992c7b5d7170252bcfaec98571
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_53.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_54.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..547baf5dd6d90061dd613b5c672d4fd1577aed4d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_54.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_55.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f91581f9930a7326bd90f0e9ac2225729423cd64
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_55.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_56.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf1d1c3f0a2b1c73a1556ab8160af09036197c64
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_56.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.01738131 -0.05648616 -0.00048802
+v -0.01738131 -0.05648619 0.00685191
+v -0.01604897 -0.05648617 0.00149660
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+v -0.01310658 -0.05661634 0.00685191
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+v -0.01324523 -0.06177861 0.00685189
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+v -0.01738131 -0.06194487 0.00084558
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+v -0.01671768 -0.06353343 0.00252123
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+v -0.01738131 -0.06636969 0.00518989
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+v -0.01480878 -0.06481111 0.00685188
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+v -0.01738131 -0.06557024 0.00396549
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+
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_57.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..026e8f329cefe52943a21b12b88e5657d781730e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_57.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+v -0.03331393 -0.02681921 -0.08798798
+v -0.02767311 -0.02447531 -0.08792099
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+v -0.02767311 -0.02270812 -0.07487554
+v -0.02767311 -0.02305785 -0.07476295
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+
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_58.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eb715078604ecaeb4e57c8ac8ab6976d9402cd0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_58.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.07964469 0.04482857 -0.07192903
+v 0.07695906 0.04482857 -0.07206628
+v 0.07583502 0.03869173 -0.07213798
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+
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_59.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88940c072bc15e46e034ab831fdaaad7d050a963
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_59.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.05767466 -0.03021436 -0.08739852
+v 0.06638443 -0.03021436 -0.08733830
+v 0.06638443 -0.03136308 -0.08722793
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_6.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddb324beb36cdfcd54b2706fd7e61cdd3b3734fb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_6.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_60.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f49edaa2c515fb81339829740d1bdaaa70872d75
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_60.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_61.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b9e5e53d0059c47ff2ee00093f94248258b52e7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_61.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.01738131 0.05579626 -0.00245321
+v -0.01738131 0.06390227 0.00202288
+v -0.01184114 0.05402734 -0.00245321
+v -0.01738131 0.02033124 -0.00245334
+v -0.01738131 0.06527455 0.00368888
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+v -0.01468498 0.06453140 0.00685236
+v -0.01328638 0.06173213 0.00685235
+v -0.01326740 0.06160448 0.00685235
+v -0.01184114 0.05269607 0.00331719
+v -0.01184114 0.03214379 -0.00245329
+v -0.01728912 0.02032668 -0.00245334
+v -0.01738131 0.02032664 0.00685219
+v -0.01738131 0.06623650 0.00516724
+v -0.01682274 0.06605414 0.00554889
+v -0.01638944 0.06633679 0.00685236
+v -0.01184114 0.05183894 0.00685231
+v -0.01184114 0.02032668 -0.00145502
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+v -0.01242520 0.02032668 -0.00245334
+v -0.01738131 0.06690212 0.00685237
+v -0.01184114 0.02032664 0.00685219
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+f 14 16 15
+
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_62.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06bfe26a4e3c2df42cda3eb24b0e7bec7b9e51eb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_62.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.01738131 0.03048966 -0.01012997
+v -0.01738131 0.03048963 -0.00245330
+v -0.01593079 0.03048966 -0.01012997
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+v -0.01728885 0.02032767 -0.00245334
+v -0.01242529 0.02032767 -0.00245334
+v -0.01615846 0.02417500 -0.01012999
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+f 1 8 4
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+f 1 6 2
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+f 2 10 5
+f 3 5 7
+f 4 8 10
+f 4 10 9
+f 4 9 6
+f 5 10 7
+f 7 10 11
+f 8 11 10
+
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_63.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c405b65b4d21656f9987142087d5947cbafd24bd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_63.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.01184070 0.05402778 -0.00245321
+v -0.01184070 0.05269832 0.00331719
+v -0.00978996 0.05348347 -0.00245321
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+v -0.00811785 0.02032665 0.00540207
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+v -0.01025045 0.02032666 0.00139330
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+v -0.00736934 0.03651415 0.00094612
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+v -0.00736934 0.04674389 0.00316506
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+v -0.00736934 0.04441490 0.00364963
+v -0.00736934 0.04443139 0.00364963
+v -0.00742756 0.03007805 0.00685223
+v -0.00741793 0.02670992 0.00685222
+v -0.00741880 0.02720805 0.00685222
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+
diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_64.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d3c093c49ab1272786e176b6b73896413a82bfb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_64.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v -0.08134781 -0.02442587 -0.07326999
+v -0.08108016 -0.04653321 -0.07327007
+v -0.07893530 -0.04256820 -0.06979892
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+v -0.07865317 -0.04808277 -0.06979894
+v -0.07314092 -0.02630496 -0.06979886
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+v -0.07934763 -0.05356226 -0.07327010
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+v -0.04645133 -0.02923929 -0.06979887
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_7.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23b786b02d19adb042d93b0d0070c8c5112b0e97
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_7.obj
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diff --git a/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_8.obj b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45e5676f2348a22bc7a2dbf1b96685fb8544e023
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/79ace9036ba95bb9ab392319288b8d24/mjcf/mesh/phone_stand_99_collision_8.obj
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