diff --git a/.gitattributes b/.gitattributes
index 3108b7eb25dfdf0049e7acec9697a4c690d2a388..bc312afe4309098fd91eb5773903df7edd908315 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2897,3 +2897,4 @@ dataset/desktop_supplies/decorations/4fd5f203e25058d8b78b0826d728ad2c/mesh/chess
 dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/5cded2fad37c5d1588ec269ce025c55f.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mesh/thermos.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mesh/thermos_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/57d5d48d4ed35b75bd394a969f44df0e.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/57d5d48d4ed35b75bd394a969f44df0e.urdf b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/57d5d48d4ed35b75bd394a969f44df0e.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9111cba56e0f7ca56747c58dbcc40215bf3a9595
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/57d5d48d4ed35b75bd394a969f44df0e.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="decoration_92">
+   <link name="decoration_92">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/decoration_92.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/decoration_92_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="2.0000" />
+         <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>0.454066</scale>
+         <version>v0.1.5</version>
+         <category>decoration</category>
+         <description>glossy red abstract sculpture with smooth curves and hollow sections</description>
+         <min_height>0.25</min_height>
+         <max_height>0.35</max_height>
+         <real_height>0.3</real_height>
+         <min_mass>1.5</min_mass>
+         <max_mass>2.5</max_mass>
+         <generate_time>20251014213733</generate_time>
+         <gs_model>mesh/decoration_92_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: Geometry appears incomplete and lacks structural coherence; object is not well-formed or recognizable as a single instance.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.667121529579163</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>NO: {"summary":"Segmentation adds scattered non-functional patches on a single-piece decoration; merging cannot fully fix inconsistent splits.","merge_groups":[]}</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</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/57d5d48d4ed35b75bd394a969f44df0e/57d5d48d4ed35b75bd394a969f44df0e.usd b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/57d5d48d4ed35b75bd394a969f44df0e.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ee5988e22adeefc6038f76e8d8a7978a412057b1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/57d5d48d4ed35b75bd394a969f44df0e.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:323a8adecbadbd828a7bc6d16b2cd4201c17320678ec2cc3a4da05f7e05dbe51
+size 584032
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mesh/decoration_92.glb b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mesh/decoration_92.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c0e05bd73a634f3e8f9e5020865c7dac6138af76
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mesh/decoration_92.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d146d59364ed97f45549400061748229bf5866296d54aad471c1d63b3253964
+size 2187068
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mesh/decoration_92.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mesh/decoration_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49931e9db5e70b6cee309e96560a7aaf9324a737
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mesh/decoration_92.obj
@@ -0,0 +1,36294 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mesh/decoration_92_collision.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mesh/decoration_92_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caf1c64aa0983c4f12a812c246fc1ebf4dc09dc0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mesh/decoration_92_collision.obj
@@ -0,0 +1,30633 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mesh/decoration_92_gs.ply b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mesh/decoration_92_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..11958720179c5fb5ca288f0d68bd733917d8662a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mesh/decoration_92_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fdc03274e484683826870de39d44478943c4d3db3455ca27984f9174f5f1661
+size 45149802
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mesh/material.mtl b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+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/57d5d48d4ed35b75bd394a969f44df0e/mesh/material_0.png b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b7180c989327f877fd2867930fb8663ea834ae4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50c1677c8bac0f03581deda6464561216cced948b4a67733369f91a080998658
+size 1790187
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/57d5d48d4ed35b75bd394a969f44df0e.xml b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/57d5d48d4ed35b75bd394a969f44df0e.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c9eb2087ec2848bbfbeebf4754c6a4c6df959216
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/57d5d48d4ed35b75bd394a969f44df0e.xml
@@ -0,0 +1,214 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="decoration_92">
+  <asset>
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
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+  </asset>
+  <worldbody>
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..490be03be652295f2a44ccdc9f27ca148eecd850
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92.obj
@@ -0,0 +1,36294 @@
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc44f30b56dffcd34ada46aa4ccd723571326c3a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision.obj
@@ -0,0 +1,30633 @@
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_0.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1877b5b3790cba9c3a53a56c04112bf45b313e3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_0.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_1.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e2d1e3744ae6cc6d179288b369c2eb9d274a26f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_1.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_10.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa53eb73848b0e2ddbb273a628142e8f34be225e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_10.obj
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_11.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c95424492f89498e6ce0f8b5e615144afce41055
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_11.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_12.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fc75b2821928009efca3f3cc71a596650fc2869
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_12.obj
@@ -0,0 +1,547 @@
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_13.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be2a687390912ffdc747668b8672924a7d7f6d43
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_13.obj
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_14.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..582e9eb43d7b11ee58cc4331d17aef5f410f8510
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_14.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_15.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e722acbbd67605f1fea2bd2a4aec6cb8ecda9cb5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_15.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_16.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02262f2d9b8b7cfa52302841fffe2e123ee8ed25
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_16.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_17.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac31efbc82af4414e9c561d4edf7fdfa3fef53c2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_17.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_18.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51275c7f37064a3a8bf33e25cc1116394b2155b8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_18.obj
@@ -0,0 +1,640 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_19.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be992936a34e6162d334ac1c113174b7024f09c7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_19.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.06338894 -0.01169836 0.03133401
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_2.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ee911cf0736eeba0893e49c3633906165236298
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_2.obj
@@ -0,0 +1,535 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_20.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba2eeaeacb17460a6f545e80f9d7e946fb62bd7c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_20.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_21.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf597d25ad7517dc61196228187d666d1734bde6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_21.obj
@@ -0,0 +1,739 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_22.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67eb20770efc1b6839eecd54be5864d8e7867588
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_22.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_23.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48ff8017980dd658039bdffdebd2acae83322215
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_23.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_24.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92601f25118ee2e88e96719d9031a7a20803c8f1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_24.obj
@@ -0,0 +1,151 @@
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_25.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88b35bfa5144ce386ff928be528e36721b91d8bf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_25.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_26.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..342f586947f47a4a48877e8649f719cc7a110f05
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_26.obj
@@ -0,0 +1,589 @@
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_27.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b44eeb110da7524c387386c34812e7e4905f88d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_27.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.00196973 -0.05827601 0.00158638
+v -0.00196973 -0.07514152 0.00158631
+v -0.00196973 -0.05809811 0.00189441
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_28.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fd7b51d9bdddb6691734585b9539ef67378057c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_28.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_29.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73a21f61a8b0fb4061a7994e34a87d4d06444311
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_29.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
+v -0.12080864 0.14173071 -0.07807841
+v -0.14663471 0.14173071 -0.07807841
+v -0.12637518 0.14173055 -0.03550384
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_3.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17a2decc2187adbd71d11cf4400882d56dea5016
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_3.obj
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_30.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d54a33c5f99e27f68b8301397c14d6e6e5edc40b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_30.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.00197455 -0.03731624 0.06955486
+v 0.00351095 -0.03731624 0.06954821
+v -0.00394992 -0.03731624 0.06954821
+v -0.04145987 -0.05635281 0.06314783
+v 0.01096447 -0.03731623 0.06852362
+v 0.03356003 -0.05600806 0.05594913
+v -0.01141079 -0.03731623 0.06833734
+v -0.02111873 -0.03731622 0.06485110
+v -0.02197056 -0.03731622 0.06447853
+v -0.02230101 -0.03731622 0.06429223
+v -0.02250663 -0.03731622 0.06417248
+v -0.04135706 -0.03731617 0.05236982
+v -0.04145987 -0.03731617 0.05219684
+v -0.04145987 -0.05635259 0.00357567
+v -0.00197455 -0.05635275 0.04681438
+v -0.01541293 -0.03731623 0.06710651
+v -0.01766000 -0.03731622 0.06633475
+v 0.01843268 -0.03731622 0.06641459
+v 0.03356003 -0.05600789 0.01139310
+v 0.03356003 -0.03731619 0.05747277
+v 0.03348660 -0.03731619 0.05753265
+v 0.03145982 -0.03731620 0.05903626
+v 0.02640024 -0.03731621 0.06240940
+v 0.02531342 -0.03731621 0.06309467
+v 0.02229529 -0.03731622 0.06494425
+v -0.04145987 -0.03731602 0.01214497
+v -0.04145987 -0.05630414 0.00218516
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+v -0.00197455 -0.05635260 0.00582442
+v 0.03124686 -0.05600786 0.00233153
+v 0.03356003 -0.05572279 0.01132658
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+v -0.04145987 -0.03911979 0.00926416
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+v -0.04145987 -0.05616998 0.00159969
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+v 0.03356003 -0.04252987 0.01855192
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+v -0.04126160 -0.04308324 0.00382853
+v -0.04145987 -0.04309256 0.00386180
+v 0.03356003 -0.03879747 0.02208475
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+v -0.04101927 -0.05635259 0.00158638
+v -0.02230101 -0.05635259 0.00158638
+v -0.03388885 -0.04685292 0.00158642
+v -0.04133503 -0.04731878 0.00158642
+v -0.04145987 -0.04735604 0.00158642
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+f 1 18 25
+f 1 25 24
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+f 1 21 20
+f 1 20 32
+f 1 32 26
+f 1 26 13
+f 1 13 12
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+f 1 11 10
+f 1 10 9
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+f 1 17 16
+f 1 16 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
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+f 4 8 9
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+f 4 29 15
+f 4 15 6
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+f 41 50 51
+f 41 51 42
+f 41 45 49
+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_31.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a12e3553acac13cc318b66866e204078c5384659
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_31.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.02869103 0.04674090 0.07942646
+v 0.01489806 0.04674088 0.08563935
+v -0.02869103 0.02384835 0.08711311
+v -0.02869103 0.04674076 0.11633236
+v 0.01489806 0.04612463 0.08601081
+v 0.01489806 0.04674078 0.11061075
+v 0.01489806 0.04108943 0.08916217
+v 0.01489806 0.03567553 0.09305045
+v 0.01489806 0.02916360 0.09820288
+v 0.01489806 0.02384829 0.10291795
+v -0.02869103 0.02384821 0.12636757
+v -0.02869103 0.04566515 0.11778224
+v -0.02747501 0.04674076 0.11664990
+v -0.02638699 0.04674076 0.11693148
+v 0.01489806 0.04108258 0.12410895
+v 0.01489806 0.02384816 0.13946438
+v -0.02551657 0.02384819 0.13038169
+v -0.02869103 0.02450926 0.12658925
+v -0.02869103 0.03886415 0.12337202
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+v -0.01887325 0.03955431 0.12738615
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+v 0.01489806 0.03801260 0.13122051
+v 0.01489806 0.02414619 0.13947037
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+v -0.02354107 0.02384818 0.13268232
+v -0.02375014 0.02627054 0.13285608
+v -0.02747928 0.02627056 0.12851244
+v -0.02869103 0.02627056 0.12699067
+v -0.02869103 0.03594880 0.12561272
+v -0.02342587 0.03133262 0.13248464
+v -0.01887325 0.03279813 0.13380271
+v -0.00783090 0.03004859 0.13920678
+v -0.01075789 0.03280036 0.13591760
+v -0.00395243 0.03018080 0.13930862
+v 0.00351011 0.03032197 0.13942246
+v 0.01489806 0.03694370 0.13250863
+v 0.00840834 0.03023682 0.13935655
+v 0.01489806 0.02812370 0.13840993
+v 0.01338337 0.02897522 0.13895515
+v 0.01092572 0.02639600 0.13985981
+v 0.00351011 0.02627051 0.14062069
+v -0.00395243 0.02627051 0.14048290
+v -0.00406336 0.02384815 0.14042297
+v -0.01622786 0.02384816 0.13847582
+v -0.02869103 0.03306034 0.12637959
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+v -0.01280593 0.02793323 0.13869751
+v -0.01075789 0.02577081 0.13963812
+v 0.01489806 0.03060881 0.13736147
+v -0.00721222 0.02384816 0.14015337
+v -0.01384275 0.02384816 0.13938051
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+f 41 44 43
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_32.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71df842b3fcfea42049a0bab5898a1f691bc2d50
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_32.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.08069272 0.14173091 -0.13421803
+v -0.08069272 0.13847702 -0.13393632
+v -0.08069272 0.14173085 -0.11630126
+v -0.07844205 0.14173091 -0.13473718
+v -0.08069272 0.13099680 -0.13273305
+v -0.07857725 0.13847702 -0.13433876
+v -0.08069272 0.07805547 -0.09765629
+v -0.00395528 0.08535491 -0.09774078
+v -0.00395528 0.08909502 -0.09893602
+v 0.00055401 0.08911372 -0.09891187
+v -0.00395528 0.10107584 -0.10285175
+v 0.00055401 0.10107584 -0.10284773
+v 0.00055401 0.10495932 -0.10416370
+v 0.00055401 0.10748390 -0.10502895
+v 0.00055401 0.12708831 -0.11192273
+v 0.00055401 0.12937600 -0.11273162
+v 0.00055401 0.13311612 -0.11418041
+v 0.00055401 0.13632014 -0.11555273
+v 0.00055401 0.13847696 -0.11647834
+v 0.00055401 0.14173085 -0.11803175
+v -0.07325676 0.14173092 -0.13562255
+v -0.08069272 0.12351657 -0.13111928
+v -0.07857725 0.13099680 -0.13304293
+v -0.08069272 0.07805552 -0.11218851
+v -0.00453584 0.07805546 -0.09621152
+v -0.00395528 0.07863517 -0.09627189
+v 0.00055401 0.08271190 -0.09719347
+v 0.00055401 0.08537361 -0.09777700
+v 0.00055401 0.08763637 -0.09844103
+v 0.00055401 0.14173092 -0.13699085
+v -0.07137988 0.13870766 -0.13529256
+v -0.06927238 0.14173092 -0.13604914
+v -0.06907354 0.14135067 -0.13601695
+v -0.08069272 0.11697761 -0.12930026
+v -0.07857725 0.12351657 -0.13133258
+v -0.07110949 0.13099680 -0.13369891
+v -0.08069272 0.10058970 -0.12274854
+v -0.06974159 0.07805552 -0.11249437
+v -0.00395528 0.07805546 -0.09620347
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+v -0.03381043 0.14173092 -0.13730477
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+v -0.05618987 0.12351657 -0.13185575
+v -0.04872210 0.13099680 -0.13418990
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+v -0.06364968 0.14173092 -0.13646366
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+v -0.08069272 0.11323751 -0.12812112
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+v -0.07110949 0.12351657 -0.13171893
+v -0.06364968 0.13671917 -0.13542940
+v -0.06364968 0.13099680 -0.13403697
+v -0.08069272 0.10856237 -0.12635843
+v -0.07857725 0.10856237 -0.12641075
+v -0.05560135 0.07805552 -0.11264328
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+v -0.04126229 0.13936841 -0.13667697
+v -0.04126229 0.14173092 -0.13731684
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+v -0.05618987 0.11717086 -0.12949745
+v -0.04872210 0.12351657 -0.13165453
+v -0.06364968 0.11679686 -0.12956588
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+v 0.00055401 0.12647750 -0.13119574
+v -0.06364968 0.11305674 -0.12810099
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+f 73 76 74
+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_33.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..745e01a35628a7e9c25fccb4f6eef6147ca7dfc3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_33.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.03222211 -0.19367763 0.12914024
+v -0.00002884 -0.20087809 0.12914021
+v 0.08008727 -0.19367763 0.12914024
+v 0.06088961 -0.19367757 0.11054046
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+v -0.00002884 -0.22616019 0.11054034
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+v 0.00351775 -0.22756611 0.12914011
+v 0.07148333 -0.20242488 0.12914021
+v 0.07571160 -0.20300198 0.12547488
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+v -0.00002884 -0.22734798 0.11706983
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_34.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e02cf4eb4334116a1531b884c8d42985f30ed88
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_34.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.11918642 -0.05686689 -0.08131830
+v -0.11247016 -0.05686683 -0.09884591
+v -0.11918642 -0.07513946 -0.07221403
+v -0.11918642 -0.05686695 -0.06416645
+v -0.11001590 -0.05686681 -0.10233734
+v -0.10567857 -0.06349900 -0.10701869
+v -0.10503205 -0.06800275 -0.10653336
+v -0.11918642 -0.07513956 -0.04610659
+v -0.09965904 -0.07513933 -0.10842783
+v -0.08606959 -0.05686697 -0.05877274
+v -0.10592964 -0.05686680 -0.10697171
+v -0.09596196 -0.07097540 -0.11298390
+v -0.10124081 -0.07068746 -0.10888969
+v -0.09850409 -0.07513933 -0.10964905
+v -0.05506807 -0.07513951 -0.06005665
+v -0.05506807 -0.07097561 -0.05821698
+v -0.05506807 -0.06504275 -0.05917201
+v -0.07112433 -0.06349918 -0.05707401
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+v -0.05506807 -0.06195537 -0.12186902
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_35.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77e160bd0692034cae4b5f18d8220f8cfca357ab
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_35.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.04872795 -0.12171956 0.14106982
+v -0.05619340 -0.12171956 0.14072258
+v -0.04143816 -0.12171956 0.14099798
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_36.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..451bdb74e381da440cac890c1767af4e4c2f3a1f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_36.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.04833144 -0.07513850 -0.09242353
+v 0.04833144 -0.05260219 -0.09242344
+v 0.02331819 -0.07513850 -0.09242353
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_37.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37fe55703019ef675c97534383ab70d9d6abb759
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_37.obj
@@ -0,0 +1,106 @@
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_38.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12670e4d94f4dfac7c78240242097c4da4050bef
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_38.obj
@@ -0,0 +1,673 @@
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_39.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91c4ed83a955d76eb0dea83a328276d2f9ee2dea
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_39.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_4.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e881c65564236c741a2f91213605c87421727096
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_4.obj
@@ -0,0 +1,1633 @@
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_40.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f8efee3db66ea0882274f2f4ed4ebe3ac9adaad
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_40.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.04518411 -0.05213324 -0.08419082
+v -0.04518411 -0.05213324 -0.08334590
+v -0.04453076 -0.05213324 -0.08419082
+v -0.04842497 -0.05535185 -0.09242345
+v -0.05505705 -0.05761549 -0.09242346
+v -0.04033061 -0.05850074 -0.07267136
+v -0.03384890 -0.05721012 -0.07267136
+v -0.03380223 -0.05720112 -0.07267136
+v -0.04453076 -0.05213324 -0.08334590
+v -0.05505705 -0.06479611 -0.07267139
+v -0.04248772 -0.05688121 -0.09242346
+v -0.00208854 -0.05890841 -0.07267137
+v -0.05505705 -0.07514117 -0.09242353
+v -0.02491452 -0.05747591 -0.07267136
+v -0.05505705 -0.07514124 -0.07267143
+v -0.03509858 -0.06466090 -0.09242349
+v -0.00208854 -0.07514120 -0.08423731
+v -0.00208854 -0.07514124 -0.07267143
+v -0.02563010 -0.07514117 -0.09242353
+f 1 2 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
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+f 2 7 8
+f 2 8 9
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+f 2 10 6
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+f 9 14 12
+f 11 12 17
+f 11 17 16
+f 12 18 17
+f 13 19 17
+f 13 17 18
+f 13 18 15
+f 16 17 19
+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_41.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..906f2f2ef173b11d80239115b72992dc21819923
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_41.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
+v -0.02869774 0.11622686 0.03779983
+v -0.09719570 0.09285950 0.03779974
+v -0.02869774 0.13550139 0.01377558
+v -0.02869774 0.13841614 0.03779991
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_42.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3457596a245326e9048f209888be79015987c82
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_42.obj
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_43.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb7d401b8b385d4a2c544971513447ed5a78be84
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_43.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_44.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c11031da3ff67f6d5ffca8ea51bb1240c75e375c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_44.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_45.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c99c556fb8e0197d8f240dd734fd66a8732cbc8d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_45.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.02869103 0.06261969 0.06317725
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+v -0.02869103 0.06647928 0.04626628
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+v -0.03980639 0.09205154 0.04012416
+v -0.03344674 0.07880584 0.03429185
+v -0.04169464 0.07157779 0.03412974
+f 1 2 3
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+f 1 7 15
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+f 1 33 16
+f 1 16 9
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+f 38 54 43
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+f 44 54 51
+f 48 54 53
+f 48 53 49
+f 48 51 54
+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_46.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7bfa602736165e250fd7129d151eebe5b7de3c5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_46.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.02869774 0.13841214 0.03780110
+v -0.03160798 0.13796742 0.03780110
+v -0.02869774 0.13282124 0.04987064
+v -0.02869774 0.11622113 0.03780102
+v -0.03365319 0.13764975 0.03780110
+v -0.02869774 0.13040699 0.05369597
+v -0.04075445 0.12855546 0.05391659
+v -0.03792467 0.12733926 0.05748712
+v -0.02869774 0.09205155 0.03799981
+v -0.09719570 0.09286386 0.03780093
+v -0.04127078 0.13607505 0.03780109
+v -0.02869774 0.12964006 0.05491101
+v -0.04224980 0.13583908 0.03780109
+v -0.04873414 0.13426437 0.03780108
+v -0.04744666 0.12797460 0.05158596
+v -0.04290025 0.12663586 0.05653933
+v -0.03380742 0.12742548 0.05754927
+v -0.06144801 0.12030984 0.05816142
+v -0.05619751 0.12119474 0.05890412
+v -0.07857417 0.10629635 0.06568776
+v -0.09719570 0.09205155 0.03881086
+v -0.09719570 0.09262334 0.03807128
+v -0.02869774 0.09205146 0.06147392
+v -0.09719570 0.11440139 0.03780101
+v -0.02869774 0.12745725 0.05755549
+v -0.05554035 0.13245370 0.03780108
+v -0.04945165 0.12619115 0.05391658
+v -0.05619751 0.12422163 0.05369595
+v -0.06205822 0.13035713 0.03780107
+v -0.06352675 0.12987155 0.03780107
+v -0.06641688 0.11941131 0.05653930
+v -0.08323458 0.10545228 0.06542051
+v -0.08584978 0.10112753 0.06665106
+v -0.08759324 0.09205143 0.06954413
+v -0.07857417 0.10107760 0.06711408
+v -0.07111081 0.10652325 0.06531175
+v -0.09719570 0.09205144 0.06782567
+v -0.02869774 0.12351369 0.05824223
+v -0.09372889 0.11613491 0.03780102
+v -0.09719570 0.10569738 0.05144293
+v -0.08584978 0.10677740 0.06089908
+v -0.08147100 0.11185548 0.05659831
+v -0.07649543 0.11314427 0.05889166
+v -0.02869774 0.12622290 0.05786623
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+v -0.07257264 0.12627742 0.03780105
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+v -0.07885581 0.12343662 0.03780104
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+v -0.09719570 0.10158590 0.05733786
+v -0.09719570 0.09964361 0.05998857
+v -0.09719570 0.09664396 0.06388226
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+f 1 23 9
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+f 40 50 41
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+f 51 58 59
+f 51 59 52
+f 52 59 60
+f 52 60 55
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_47.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2f083898370c71d118848e6797b7795c7dbeb96
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_47.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.07074758 0.12698908 0.03773924
+v 0.07074758 0.11866392 0.05426957
+v 0.07110726 0.11861436 0.05407409
+v 0.07299373 0.12604756 0.03773923
+v 0.07074758 0.10732843 0.03773916
+v 0.07074758 0.11474911 0.06052482
+v 0.07638497 0.11339875 0.05916149
+v 0.08004414 0.12299997 0.03773922
+v 0.10698691 0.08740762 0.03773909
+v 0.07074758 0.01879976 0.03783908
+v 0.07074758 0.11113163 0.06422885
+v 0.08300597 0.10554438 0.06546184
+v 0.10310019 0.11185026 0.03773918
+v 0.09415597 0.11621103 0.03773920
+v 0.08553472 0.10703103 0.06108616
+v 0.10824211 0.10929822 0.03773917
+v 0.10824211 0.08673864 0.03773909
+v 0.07074758 0.01743702 0.03786413
+v 0.07074758 0.10737789 0.06537664
+v 0.07813932 0.10646113 0.06571747
+v 0.09629568 0.09692194 0.06439922
+v 0.08798273 0.10379760 0.06352711
+v 0.10469304 0.08272461 0.07249392
+v 0.10461597 0.09012062 0.06514100
+v 0.10403975 0.09716974 0.05721167
+v 0.10824211 0.09610434 0.05459026
+v 0.10824211 0.00043981 0.06645387
+v 0.07074758 0.00043991 0.03878632
+v 0.07074758 0.00257074 0.03845051
+v 0.07074758 0.01014015 0.03806460
+v 0.07074758 0.10105972 0.06601317
+v 0.10824211 0.00043972 0.08893877
+v 0.10824211 0.03006079 0.08472860
+v 0.10798519 0.04123529 0.08295431
+v 0.10824211 0.04123529 0.08299440
+v 0.10798519 0.04871798 0.08162109
+v 0.10798519 0.05473883 0.08028785
+v 0.10824211 0.05475122 0.08029787
+v 0.10798519 0.05848018 0.07935057
+v 0.10798519 0.06080923 0.07875412
+v 0.10798519 0.06368337 0.07801232
+v 0.10052005 0.08283611 0.07248390
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+v 0.10824211 0.08128755 0.07120578
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+v 0.07286160 0.00043982 0.06368712
+v 0.07632258 0.00043981 0.06636867
+v 0.07834852 0.00043980 0.06790241
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+f 45 57 46
+f 47 58 48
+f 48 58 49
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+f 52 60 61
+f 52 61 53
+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_48.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3d69cb3d28e374a64c01d4f5bdbdeeeda8720ae
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_48.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.07122423 -0.08608498 0.08829383
+v 0.07122423 -0.07514180 0.07922594
+v 0.07122423 -0.07514183 0.08829387
+v 0.03991894 -0.09487920 0.08829380
+v 0.01595390 -0.07514167 0.04300623
+v 0.02342096 -0.07514168 0.04737227
+v 0.03069078 -0.07514170 0.05178562
+v 0.03335356 -0.07514171 0.05356420
+v -0.07269277 -0.07514183 0.08829387
+v 0.02387180 -0.09825715 0.08829379
+v 0.01179771 -0.07514166 0.04160607
+v -0.07270686 -0.07514183 0.08828440
+v -0.07270686 -0.08108340 0.08829385
+v 0.02170213 -0.09861405 0.08829379
+v 0.01832082 -0.09916448 0.08829379
+v 0.01096647 -0.07514166 0.04135537
+v -0.07270686 -0.07514180 0.07990709
+v -0.07270686 -0.08589899 0.08828910
+v -0.07269277 -0.08590904 0.08829383
+v 0.01402374 -0.09977522 0.08829378
+v 0.01096647 -0.10016982 0.08829378
+v 0.00349941 -0.07514166 0.04009711
+v -0.02498812 -0.07514169 0.04805343
+v -0.01866226 -0.07514167 0.04386714
+v -0.05578622 -0.09102372 0.08829382
+v -0.01642214 -0.07514167 0.04261362
+v 0.00349941 -0.10081826 0.08829378
+v 0.00192147 -0.07514166 0.04006400
+v -0.04872774 -0.09304195 0.08829381
+v -0.01570361 -0.07514167 0.04230615
+v -0.04126068 -0.09484904 0.08829380
+v -0.00393947 -0.10058201 0.08829378
+v -0.00393947 -0.07514166 0.03997413
+v -0.01337896 -0.07514166 0.04160607
+v -0.01911310 -0.09856378 0.08829379
+v -0.03379362 -0.09624396 0.08829380
+v -0.01164604 -0.09957666 0.08829378
+v -0.01140653 -0.07514166 0.04102424
+f 1 2 3
+f 1 3 9
+f 1 9 13
+f 1 13 19
+f 1 19 25
+f 1 25 29
+f 1 29 31
+f 1 31 36
+f 1 36 35
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+f 1 27 21
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+f 30 34 35
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+f 30 36 31
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+f 32 38 33
+f 34 38 35
+f 35 38 37
+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_49.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c79b33c216ccdeb4102b40e3b55c1f58287f7d78
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_49.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_5.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa0fb45967af171aa695365a1a3ceeed8d4a1d58
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_5.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_50.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eea7cba7662978b2c8bf5b2c392d04a7bc656497
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_50.obj
@@ -0,0 +1,667 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_51.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e6b23f09fedeff254ed1d49da445f66ece9d7c1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_51.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.08339826 -0.03731621 0.06315857
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_52.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a7daac8082df4b24e39a0e5a0b3a42c88c9e7ec
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_52.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_53.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92f315ae92315eba212b24009199e69bc989c050
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_53.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_54.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed0218738d2fefb27eb05ad9c57daeb9f0560fa3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_54.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_55.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..536b393d1a9b5abbb17ba6a085b905be136e1508
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_55.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_56.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87b2233cfc2bf048f53f14870427da305fe5a067
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_56.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_57.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4da3717f9e0cb0970b09a50fb50af374a9ca802d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_57.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_58.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12131c0dcdf61c4a554f358b85b857c5ba02fd38
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_58.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.00196974 -0.07514169 0.04817662
+v -0.00196974 -0.07514152 0.00159087
+v -0.00196974 -0.06124679 0.04817668
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+v -0.00196974 -0.05827636 0.00159094
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+v -0.00196974 -0.05635260 0.00581398
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_59.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f14d37aa98f5c1b9981feddcf7e92e6a8961973
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_59.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_6.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8ac1ef17e493e0d74a0de546458efb2e4439320
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_6.obj
@@ -0,0 +1,745 @@
+# https://github.com/mikedh/trimesh
+v -0.15711695 0.13543784 -0.02718921
+v -0.15728467 0.13520477 -0.02718921
+v -0.15731558 0.13524590 -0.02680397
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_60.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa13e0f25718ae5591994e62f242b4b96e14fcb4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_60.obj
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_61.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90bd2807c7027affc535562abfceaf6fe301f2e5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_61.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_62.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09da0a28cf0b65167acd60f524f250737872da05
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_62.obj
@@ -0,0 +1,619 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_63.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aba3c74684ddf6a1ce9c2730225bf769fb6eae58
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_63.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_64.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..983c9efa5922b77076d44a609a2fd134a6846d32
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_64.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_65.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59da4bdad2ffd210cf27ec084f6ec891e4860d93
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_65.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_66.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6593b11224a15e64d42a5b8dee7adfd6d4b01ab
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_66.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_67.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a26f497cf30a266c15589a5cb8202f83d2d30ded
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_67.obj
@@ -0,0 +1,205 @@
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_68.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92d9cbf65264f5e3ef84b28de5222033f0721661
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_68.obj
@@ -0,0 +1,493 @@
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_69.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb0c62b68969649278384a8a44a0bf3f98d5fdff
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_69.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_7.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..887c5026ba9057b857188ac7d47d44b73b8c421b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_7.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_70.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f5a21f75b9b99eb89844c27e9bf3ff0111da6b1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_70.obj
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_71.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f77ae92258fca11d4eaa74cff708a343fa3d5b03
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_71.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_72.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad873ef68c51086005d6d81fb50900aea873e415
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_72.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_73.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33ef978132032a16a2c451de51a826ac58a2adbb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_73.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_74.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ca96c8ef17a4475292224ddf330818772ab2907
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_74.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_75.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ac90947c49311b3dd85edc801530d797d4b38dc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_75.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_76.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bead99bfd5b9a4e6fbc7400dceef0d6bc0e67cf2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_76.obj
@@ -0,0 +1,193 @@
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_77.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7b9cfe4f4ebe45b1482a1e088a9db1d76ceca86
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_77.obj
@@ -0,0 +1,451 @@
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_78.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c82833374c4021622c2f11d34fb12cdc7fcde1f4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_78.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.02563318 -0.07513861 -0.09242354
+v -0.02656761 -0.07513852 -0.11749324
+v -0.00081774 -0.05734640 -0.11726297
+v -0.00081774 -0.05655308 -0.11464810
+v -0.00081774 -0.05540546 -0.11088584
+v -0.00081774 -0.04906400 -0.10717032
+v -0.00081774 -0.04891252 -0.10711997
+v -0.03509958 -0.06465846 -0.09242350
+v -0.05505705 -0.07513861 -0.09242354
+v -0.02704544 -0.07513850 -0.12249640
+v -0.00081774 -0.05421928 -0.12242437
+v -0.02804358 -0.07513849 -0.12477318
+v -0.00081774 -0.04891246 -0.12343506
+v -0.02074867 -0.04890995 -0.10561291
+v -0.04963631 -0.04890998 -0.09767117
+v -0.05505705 -0.04890999 -0.09655257
+v -0.04842049 -0.05535419 -0.09242346
+v -0.04249005 -0.05688436 -0.09242347
+v -0.05505705 -0.05761864 -0.09242347
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+v -0.02580839 -0.04890989 -0.12228768
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+v -0.04087073 -0.05582135 -0.12228412
+v -0.03380412 -0.05093814 -0.12160790
+f 1 2 3
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_79.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36680f4434ce3a0259e0ae192d40c026337c1b91
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_79.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.03322331 -0.16446162 0.12914035
+v 0.06342984 -0.19135824 0.11054047
+v 0.06089945 -0.19367757 0.11054046
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+v 0.09363637 -0.16446156 0.11054057
+v 0.09407567 -0.19367757 0.11054046
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_8.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..877e061254be96096b062fa629bb69c1182c271e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_8.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v 0.15805737 0.10989117 -0.00636222
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_80.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da331ab80d137bce363b824ea5c609fc7605cb79
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_80.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_81.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8b8bed414c55db20c5b979a693f2c11b8f87287
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_81.obj
@@ -0,0 +1,415 @@
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_82.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f806c95b444c2aa3d6413ccba5627432b5307f8b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_82.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.04833145 -0.07513753 -0.12732089
+v 0.04833145 -0.07501799 -0.12729368
+v 0.05575131 -0.07097492 -0.12481734
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+v 0.06736973 -0.06693890 -0.12107563
+v 0.07018686 -0.07146714 -0.12159947
+v 0.07471720 -0.07429027 -0.12107565
+v 0.06321943 -0.07513754 -0.12402140
+v 0.10797989 -0.04105975 -0.10395900
+v 0.05750674 -0.07513778 -0.06017453
+v 0.04833145 -0.07510965 -0.06026977
+v 0.04833145 -0.06348997 -0.12382406
+v 0.10797989 -0.03922103 -0.10339433
+v 0.10627272 -0.05049593 -0.10685034
+v 0.07484991 -0.07513756 -0.12112329
+v 0.10694232 -0.05601912 -0.10765312
+v 0.09582459 -0.06871788 -0.11330652
+v 0.09702504 -0.07370316 -0.11370112
+v 0.10845042 -0.04821775 -0.10551013
+v 0.10995852 -0.04105975 -0.10321746
+v 0.10995852 -0.07513778 -0.05957586
+v 0.04833145 -0.07097516 -0.05876628
+v 0.04833145 -0.05825155 -0.12168106
+v 0.10995852 -0.03922103 -0.10264599
+v 0.04833145 -0.03922099 -0.11361935
+v 0.09702504 -0.07513758 -0.11370113
+v 0.10995852 -0.04830916 -0.10447606
+v 0.10995852 -0.05650079 -0.10397947
+v 0.10610381 -0.06349354 -0.10788445
+v 0.10995852 -0.03922114 -0.07279410
+v 0.09929926 -0.03922116 -0.06729041
+v 0.08974392 -0.04434358 -0.06129011
+v 0.07813758 -0.06349373 -0.05782062
+v 0.07067549 -0.07097516 -0.05857579
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+v 0.04833145 -0.07094001 -0.05876628
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+v 0.09710949 -0.07513758 -0.11361269
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+v 0.10883046 -0.06349356 -0.10239437
+v 0.09294110 -0.03922117 -0.06537874
+v 0.08968360 -0.03922117 -0.06639240
+v 0.04833145 -0.06509688 -0.05960303
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+v 0.07827028 -0.05402940 -0.05948054
+v 0.10995852 -0.06190094 -0.10075483
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_83.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef133fda0058433754b2b8ae35fff5ff0015aa3b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_83.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.05506199 0.00041655 -0.10951628
+v -0.05619808 0.00041094 -0.10938817
+v -0.12332920 0.00041090 -0.09736070
+v -0.12740746 0.00041089 -0.09608729
+v -0.13096138 0.00041089 -0.09444507
+v -0.14961942 0.00041085 -0.08388124
+v -0.05506199 0.00041650 -0.09428589
+v -0.05280438 0.00041655 -0.10977640
+v -0.01888197 -0.04853207 -0.12313179
+v -0.02581502 -0.04890778 -0.12228933
+v -0.05506199 -0.05686497 -0.11956009
+v -0.10011223 -0.05686501 -0.10915543
+v -0.06986026 -0.05686498 -0.11632998
+v -0.07858483 -0.05686499 -0.11427234
+v -0.10538484 -0.05686502 -0.10728803
+v -0.10590919 -0.05686502 -0.10697356
+v -0.11000202 -0.05686503 -0.10234582
+v -0.11246354 -0.05686505 -0.09885560
+v -0.12804832 -0.03856191 -0.08388138
+v -0.09861201 0.00041085 -0.08388124
+v -0.00083566 0.00041650 -0.09441789
+v -0.04874068 0.00041655 -0.11012968
+v -0.01888197 -0.04890778 -0.12317450
+v -0.01142459 -0.04853207 -0.12354332
+v -0.01145372 -0.04890778 -0.12348897
+v -0.00396719 -0.04890778 -0.12345403
+v -0.00083566 -0.04890778 -0.12343461
+v -0.05506199 -0.05686507 -0.09310976
+v -0.11349767 -0.05686506 -0.09554786
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+v -0.04533242 0.00041655 -0.11024228
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+v -0.00083566 -0.01547542 -0.09564865
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_84.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1dadd622d3dd9e17fd30dd7585e651afb20da20
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_84.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.07338443 -0.05686517 -0.06457575
+v -0.07414112 -0.05686519 -0.05909668
+v -0.08771553 -0.05686510 -0.08500301
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+v -0.09640212 -0.00352950 -0.08387484
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+v -0.08878409 -0.04424340 -0.06124715
+v -0.10522676 0.00041235 -0.08116824
+v -0.10842224 0.00041234 -0.08030118
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+v -0.11918464 -0.04149578 -0.08500295
+v -0.12561649 0.00041234 -0.07773163
+v -0.09019011 -0.04424340 -0.06124715
+v -0.11918464 -0.05686517 -0.06416726
+v -0.12561649 -0.04149584 -0.06691069
+v -0.11918464 -0.05181862 -0.08500299
+v -0.12561649 -0.00371457 -0.07654043
+f 1 2 10
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+f 22 29 23
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_85.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70cdbc131cf5236b78ee96daa0db55b0cfed6c7c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_85.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v -0.05439354 -0.19052997 0.07776424
+v -0.05439354 -0.20603999 0.07776418
+v -0.05439354 -0.19858860 0.11054820
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+v -0.05439354 -0.21604174 0.11054814
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+v -0.00002884 -0.21431480 0.07776415
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+v -0.05439354 -0.20804244 0.08317148
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+v -0.05310573 -0.21654409 0.11054813
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+v -0.04126534 -0.20994367 0.07844128
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+v -0.05439354 -0.21069725 0.09121022
+v -0.05439354 -0.20988789 0.08864296
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_86.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79c707fa077d7f3de72e6498ced01d2c8611fe0e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_86.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_87.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbaa46d13597bd3639f9a9081a1c8cf34c656ecf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_87.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.02869103 0.10466662 0.03992844
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_88.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f686d112d044fbb76521b5ca310c2aa1ddd8e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_88.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.02869103 0.00042380 0.06919068
+v -0.02869103 0.02384835 0.08710833
+v 0.01489806 0.00042375 0.08047133
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+v 0.01097266 0.00042361 0.12077536
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_89.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bae4842d7b438eb6fa0222fa63d8b87951cc14bb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_89.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.03356003 -0.05572894 0.01132121
+v 0.03356003 -0.05913901 0.01214462
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+v 0.08290436 -0.06402295 0.07557527
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+f 39 41 40
+f 41 43 42
+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_9.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4663d1420c2731b9b863e6e39f9656dbffae8b06
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_9.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.05542400 0.19390449 -0.02718900
+v -0.05610093 0.19336819 -0.02718900
+v -0.05144839 0.19390452 -0.03595500
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_90.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc8ace42e5d3484a9d41dce88513a3a151394990
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_90.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.15926097 -0.12172808 0.07776657
+v -0.15708615 -0.12597966 0.07776656
+v -0.15666484 -0.12657984 0.07828146
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_91.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f739e9ccc0ffb231c5748d85523ffb584ea307df
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_91.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_92.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..424ae00d75cfb0d306755aabe0c32029f5a48670
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_92.obj
@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_93.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5afb07b97e52def02b47662a6ac8c210b0699f3d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_93.obj
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_94.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04bcc6ab20a25e3ade324cdedd19523d5db35b1c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_94.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_95.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cfdeacb6b6930f5e96cad44c872022b7f2cd377
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_95.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.07074758 0.04674097 0.06027136
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_96.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e75dff060b1dbe1848e25190a3c0e445986ea312
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_96.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.00183508 -0.03731612 0.03735414
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_97.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff1e3205e0eb40f47ab60cd50398ebcc1946a2a8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_97.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.08290918 -0.03731628 0.08228642
+v 0.08290918 0.00041780 0.07116024
+v 0.06080759 0.00041783 0.06205112
+v 0.08129727 -0.03731628 0.08162106
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+v 0.08290918 0.00041787 0.05190172
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+v 0.07950361 -0.03731628 0.08083424
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_98.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27544a244f35d45372f691681f48caaf6958c2a4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_98.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.08339826 -0.07514188 0.10144499
+v -0.08339826 -0.05635291 0.09045351
+v -0.08339826 -0.07514182 0.08342989
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_99.obj b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..134712b070a58facab5d67ca38517e4a31a511f7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/decoration_92_collision_99.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.04833146 0.00041828 -0.11031579
+v 0.04833146 0.00041822 -0.09493814
+v 0.05575260 0.00041827 -0.10956161
+v 0.04833146 0.00041357 -0.11031933
+v 0.04828683 0.00041357 -0.11032288
+v 0.04082744 0.00041357 -0.11057074
+v 0.03336804 0.00041357 -0.11032288
+v 0.02590226 0.00041356 -0.10964304
+v 0.02330741 0.00041356 -0.10928187
+v 0.02330741 0.00041351 -0.09510810
+v 0.07813717 0.00041820 -0.08863907
+v 0.06321200 0.00041827 -0.10801782
+v 0.02534759 -0.04775544 -0.12204308
+v 0.02444226 -0.04775544 -0.12220595
+v 0.02330741 -0.04775544 -0.12237591
+v 0.02330741 -0.00366070 -0.09527807
+v 0.08843369 -0.02609247 -0.08656427
+v 0.08843369 -0.01861837 -0.08629160
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+v 0.08843369 0.00041819 -0.08680848
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+
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b7180c989327f877fd2867930fb8663ea834ae4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50c1677c8bac0f03581deda6464561216cced948b4a67733369f91a080998658
+size 1790187
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/textures/material_0.png b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b7180c989327f877fd2867930fb8663ea834ae4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50c1677c8bac0f03581deda6464561216cced948b4a67733369f91a080998658
+size 1790187
diff --git a/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/video.mp4 b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..037c458e99d96d64d54fc53913d4b3375690a0fd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/57d5d48d4ed35b75bd394a969f44df0e/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd33c598a724e555bc03c578fd199847924bb475455733d116070a8637046125
+size 254806