diff --git a/.gitattributes b/.gitattributes
index ce580ed02b99351e82e7755203dfaf409f20fd91..83bcc12a03f6b84512506451f7f41bdd5f995328 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2878,3 +2878,4 @@ dataset/desktop_supplies/decorations/2ea2134d87205a2b992e50cc6c94aac8/mesh/glass
dataset/desktop_supplies/decorations/2ea2134d87205a2b992e50cc6c94aac8/mesh/glasses_gs.ply filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/decorations/269ab8f0fc86508ebedb52e7ee24eb82/mesh/phone_stand_004.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/decorations/269ab8f0fc86508ebedb52e7ee24eb82/phone_stand_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/37242c4063c9538da75ebd06cc776784.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/37242c4063c9538da75ebd06cc776784.urdf b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/37242c4063c9538da75ebd06cc776784.urdf
new file mode 100644
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--- /dev/null
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diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/37242c4063c9538da75ebd06cc776784.usd b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/37242c4063c9538da75ebd06cc776784.usd
new file mode 100644
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diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mesh/decoration_94.glb b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mesh/decoration_94.glb
new file mode 100644
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--- /dev/null
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diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mesh/decoration_94.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mesh/decoration_94.obj
new file mode 100644
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diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mesh/decoration_94_collision.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mesh/decoration_94_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d20093202da30e310c74b98d29faee8db96a985
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mesh/decoration_94_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mesh/decoration_94_gs.ply b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mesh/decoration_94_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f14da34f89f27b68031c8b184bc69340f51f86e3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mesh/decoration_94_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d626e42f61e9ec19e6870bb2e99644771b65d8c94673e843c265dee46115d5b
+size 6980202
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mesh/material.mtl b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/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
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mesh/material_0.png b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..145188ca02edfe0021be47405e3a3916b645c06d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fac520262c9a7eb0324a1832655c08c5f973ce1e1e6dade28814e85898dd0f8
+size 2942970
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/37242c4063c9538da75ebd06cc776784.xml b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/37242c4063c9538da75ebd06cc776784.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ad3a28408927c5de83d5569430d0eaf076ad8ca5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/37242c4063c9538da75ebd06cc776784.xml
@@ -0,0 +1,82 @@
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf7129ac855dbe2e3fb4abde018b495640ca2fcc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94.obj
@@ -0,0 +1,27662 @@
+# https://github.com/mikedh/trimesh
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+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2701c1ebed9ca31577528cffba1938d62aaf748
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision.obj
@@ -0,0 +1,6654 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_0.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c452d34bdcc8efe4036fa16b7938d1dfcd15c72d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_0.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_1.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a74b1f57db2b094eeae5e7595a381bf9659e7f5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_1.obj
@@ -0,0 +1,223 @@
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diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_10.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbab8eb5f8359cabcaedfcf11aa028d144a55b40
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_10.obj
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diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_11.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12f1b1d7c4ccf33e719b974b1808a3c3c9557f8f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_11.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_12.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc36aea520b6a637ee06d407f0b53dee521bbdf7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_12.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.01591250 -0.04991953 -0.00755258
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diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_13.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1303968d15d236badd6680aaad18ffd684bab62
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_13.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.01137731 0.01784090 -0.01955808
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+
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_14.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d6a3dfa389e7a16a3ca587a2f57270989c615e7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_14.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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+v -0.01297636 0.02521918 0.07455559
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+
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_15.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22f32c851979746969135083e1908c03be2ac102
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_15.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.02733651 0.01106298 -0.04518288
+v 0.02300827 0.01483173 -0.04340197
+v 0.02300827 0.01962253 -0.04182424
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+
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_16.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64ca9eab065d8521b79ca6c569fbaefabded731b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_16.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v -0.02852059 -0.04992321 -0.01563476
+v -0.02825681 -0.04992315 -0.03234644
+v -0.03123890 -0.05814710 -0.03082424
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+
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_17.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8afa89394a8da43de5c552e1e84edf9211b0e005
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_17.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.01267551 -0.02897347 -0.03577329
+v 0.01267551 -0.02983460 -0.03578388
+v 0.01267551 -0.02897350 -0.02597229
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+v 0.01267551 -0.03169423 -0.03580508
+v 0.01267551 -0.03251234 -0.02734498
+v 0.01271115 -0.04991948 -0.02046194
+v 0.01531886 -0.02897352 -0.02046187
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+v 0.02157085 -0.04991947 -0.02566059
+v 0.02008582 -0.04991947 -0.02503857
+v 0.01911461 -0.04991947 -0.02446497
+v 0.01267551 -0.03408285 -0.03234689
+v 0.03542918 -0.04203395 -0.03145247
+v 0.03854181 -0.04511148 -0.03030228
+v 0.03542918 -0.04537187 -0.03032044
+v 0.03063846 -0.04991946 -0.02752363
+v 0.02560420 -0.04991946 -0.02703630
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+v 0.03760030 -0.02897348 -0.03155081
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+
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_18.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de44bccf6cff80769fe25bab3d9e6c913eaa4a75
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_18.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.02300627 -0.01400128 -0.04038678
+v 0.01137545 -0.00479612 -0.04017675
+v 0.02300627 0.00622113 -0.03807265
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+v 0.02300627 0.00622107 -0.02149093
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+v 0.02300627 -0.02897348 -0.03323466
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+v 0.01137545 -0.01823181 -0.03800750
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+v 0.01137545 0.00622106 -0.01956017
+v 0.01508693 -0.02897353 -0.01956030
+v 0.01137545 -0.02800548 -0.01956029
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+
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_19.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3440cc281d634551523906f06b94b6e88f93128b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_19.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.03334187 0.00685456 -0.02512416
+v -0.02945433 0.00685454 -0.01776078
+v -0.02470097 0.00685456 -0.02512416
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+v -0.02470097 -0.02729022 -0.00067885
+v -0.02470097 -0.02237683 -0.00114893
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+
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_2.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ac2c624ae90e081bd28e9189affddf1e18d3ec2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_2.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.00068419 -0.05246661 0.13153308
+v 0.00598032 -0.05181601 0.13153308
+v -0.00331328 -0.05108615 0.13153308
+v -0.00329637 -0.05012270 0.11704822
+v -0.00279246 -0.04978071 0.11319456
+v 0.00103253 -0.05117787 0.12203039
+v 0.00932846 -0.05051895 0.13153308
+v 0.00126250 -0.05023530 0.11679814
+v 0.00505367 -0.05034376 0.12203040
+v -0.00575505 -0.04904669 0.11704822
+v -0.00384087 -0.05040635 0.13153308
+v -0.01155848 -0.04483857 0.11058486
+v -0.01191697 -0.04509712 0.10709027
+v -0.00879204 -0.04698639 0.10709027
+v -0.00420950 -0.04917179 0.11174543
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diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_20.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d463d44a3db4705f1e253c8ce50ef432956830e0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_20.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_21.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df97afabbbc3a14acd10501538f9da35631915f3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_21.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.02300627 0.01483546 -0.04340223
+v 0.01137545 0.02624030 -0.04207646
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+
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_22.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70dff53ba9c91ec1998a7470f366caf63f423cc2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_22.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.01008396 0.00685459 -0.03223949
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+v -0.00053267 0.01660691 -0.04014793
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+v -0.01008396 0.01106240 -0.00236194
+v -0.01008396 0.01043426 -0.00113249
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+v -0.00190224 0.01660681 -0.01243168
+v -0.00387888 0.01660680 -0.01221702
+v 0.01106666 0.01660682 -0.01751047
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+v 0.01101205 0.01040081 0.00872261
+v 0.01137545 0.01026526 0.00872261
+v 0.00605471 0.01660681 -0.01468567
+v 0.00152378 0.01660681 -0.01292932
+f 1 2 3
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+f 1 10 9
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+f 1 23 24
+f 1 24 12
+f 1 12 6
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+f 1 26 25
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+f 1 15 7
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+f 27 37 28
+f 31 36 32
+
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_23.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a33474ec00195fb447a8304639c1a7a470c69035
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_23.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.01082146 -0.02897408 -0.02046036
+v 0.00969760 -0.03197493 -0.02046037
+v 0.01267254 -0.03251124 -0.02734551
+v 0.01267254 -0.02897406 -0.02597309
+v -0.01955015 -0.02897408 -0.02046036
+v 0.00729431 -0.03467497 -0.02046038
+v 0.01087202 -0.03467495 -0.02729700
+v 0.01229921 -0.03467493 -0.03234764
+v 0.01267254 -0.03408168 -0.03234764
+v 0.01267254 -0.02897403 -0.03577171
+v -0.02499838 -0.02897406 -0.02795776
+v -0.02620780 -0.03467494 -0.02950348
+v -0.02405729 -0.03467495 -0.02701281
+v -0.02159956 -0.03467496 -0.02444821
+v -0.01922738 -0.02991167 -0.02046036
+v -0.01590245 -0.03467497 -0.02046038
+v 0.01227588 -0.03467493 -0.03239616
+v 0.01267254 -0.03169360 -0.03580406
+v 0.01267254 -0.02983349 -0.03578326
+v -0.00388213 -0.02897400 -0.04309814
+v -0.02613391 -0.02897405 -0.02959587
+v -0.02683001 -0.02897404 -0.03143961
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+v -0.02653446 -0.03467494 -0.03082505
+v -0.02010236 -0.03467496 -0.02317747
+v -0.01844184 -0.03218868 -0.02046037
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+v -0.00879370 -0.02897400 -0.04406391
+v -0.02690779 -0.02897403 -0.03624535
+v -0.02668612 -0.03467493 -0.03400654
+v -0.02674445 -0.03467493 -0.03234764
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+v -0.01370527 -0.03467491 -0.03828087
+v -0.01849629 -0.03467491 -0.03816997
+v -0.02353230 -0.03467491 -0.03691309
+v -0.01370527 -0.02897400 -0.04250435
+v -0.02371118 -0.02897402 -0.03821385
+v -0.02652279 -0.03467492 -0.03549216
+v -0.02508004 -0.03467492 -0.03618298
+f 1 2 3
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+f 1 23 22
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+f 30 36 37
+f 30 37 38
+f 31 39 40
+f 31 40 32
+f 37 41 39
+f 37 39 38
+f 39 41 40
+
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_24.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b35b86eccb7fd105f1791892756f891c7e71e5f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_24.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.04178133 0.00685462 -0.04121885
+v -0.03904473 0.01660691 -0.04188896
+v -0.04173789 0.00685462 -0.04141451
+v -0.04149588 0.00685461 -0.03778503
+v -0.03921538 0.01660690 -0.03778011
+v -0.03646947 0.01660693 -0.04512712
+v -0.03706830 0.01201812 -0.04531301
+v -0.03700624 0.00857580 -0.04522009
+v -0.03849555 0.00700451 -0.04382112
+v -0.03848314 0.00685463 -0.04376242
+v -0.04145244 0.00685461 -0.03769209
+v -0.03673631 0.01660688 -0.03323103
+v -0.03332952 0.01660693 -0.04534723
+v -0.03316508 0.01180333 -0.04549400
+v -0.03467300 0.00857580 -0.04522009
+v -0.03302546 0.00685463 -0.04277923
+v -0.03523769 0.01660687 -0.03050158
+v -0.02708065 0.00685452 -0.01351349
+v -0.03178437 0.01660693 -0.04530321
+v -0.02935804 0.01571246 -0.04526408
+v -0.02935804 0.01329730 -0.04526409
+v -0.01884603 0.00685461 -0.03706598
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+v -0.02487151 0.00685451 -0.01098949
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+v -0.03000030 0.01660693 -0.04508799
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+v -0.02353734 0.01660692 -0.04245148
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+v -0.02626774 0.00991691 -0.01459450
+v -0.01837442 0.00685448 -0.00395553
+v -0.01780972 0.00685448 -0.00337834
+v -0.01008395 0.00685445 0.00447738
+v -0.03040987 0.01660685 -0.02460245
+v -0.02319604 0.00685450 -0.00915518
+v -0.02321156 0.01660692 -0.04223625
+v -0.02039429 0.01660691 -0.04035303
+v -0.01008395 0.01660688 -0.03161684
+v -0.01008395 0.00900806 0.00148380
+v -0.02832484 0.01660684 -0.02302740
+v -0.01008395 0.01660681 -0.01369445
+v -0.01008395 0.01043426 -0.00113314
+v -0.01371414 0.01660682 -0.01543581
+v -0.01008395 0.01106240 -0.00236090
+v -0.01008395 0.01409616 -0.00848992
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+f 41 45 44
+f 42 44 46
+f 44 45 46
+
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_25.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7b1f86749344cc9c4f26c447978b451af9f754c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_25.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.04128062 0.02505591 -0.04071609
+v -0.04115855 0.02184871 -0.04052851
+v -0.04128062 0.02505590 -0.03891579
+v -0.01862195 0.03819106 -0.03732724
+v -0.02174348 0.03542755 -0.04041046
+v -0.03827535 0.02586933 -0.04164800
+v -0.03615074 0.02040148 -0.04495817
+v -0.03646755 0.01660904 -0.04512762
+v -0.04075456 0.01931338 -0.03986589
+v -0.04115855 0.02184870 -0.03910037
+v -0.03904556 0.01660902 -0.04188707
+v -0.03655183 0.02476856 -0.03428947
+v -0.02178126 0.03542963 -0.03396870
+v -0.03523812 0.01660898 -0.03050130
+v -0.03236073 0.01660897 -0.02615940
+v -0.03706627 0.02184868 -0.03326073
+v -0.01331187 0.03636984 -0.03691878
+v -0.01159125 0.03579939 -0.03755720
+v -0.01159125 0.03579939 -0.03840440
+v -0.01159125 0.03549727 -0.04111242
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+v -0.01159125 0.03157596 -0.04292181
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+v -0.03178526 0.01660904 -0.04530613
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+v -0.01159125 0.02644823 -0.04174180
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+v -0.02353676 0.01660903 -0.04245288
+v -0.02321123 0.01660903 -0.04223806
+v -0.01159125 0.02174940 -0.03766618
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+f 1 8 2
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+
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_26.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f00c866cb8af0159a817cfd7394e60bca112bd9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_26.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.01158835 0.03157753 -0.04292139
+v -0.00690613 0.02964984 -0.04497050
+v -0.00690613 0.02847181 -0.04497051
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+v -0.01158835 0.03407450 -0.04217155
+v -0.00549000 0.02964984 -0.04497050
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+v 0.01137545 0.03090113 -0.04114702
+v 0.00103320 0.02184702 -0.04523232
+v -0.01158835 0.02174929 -0.03766617
+v 0.00103320 0.01928427 -0.04485418
+v 0.00103320 0.01728894 -0.04230736
+v 0.00103320 0.01660691 -0.04111798
+v -0.00053354 0.01660691 -0.04015161
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+v -0.01158835 0.03579926 -0.03840302
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+v 0.00368338 0.02450181 -0.04487032
+v 0.01137545 0.02676017 -0.04217805
+v 0.00368563 0.02184701 -0.04488973
+v 0.00355751 0.01929178 -0.04484772
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+v -0.01158835 0.01660681 -0.01444093
+v -0.01158835 0.03579926 -0.03755623
+v 0.01137545 0.03053850 -0.03540373
+v 0.01137545 0.02623973 -0.04207785
+v 0.01137545 0.02279018 -0.04087879
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+v 0.01106525 0.01660682 -0.01751457
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+f 13 25 24
+f 13 23 32
+f 13 32 42
+f 13 42 38
+f 13 38 29
+f 13 29 37
+f 13 37 36
+f 13 36 35
+f 13 35 34
+f 13 34 33
+f 13 33 25
+f 14 24 26
+f 14 26 27
+f 14 27 16
+f 16 27 17
+f 17 27 18
+f 18 27 28
+f 18 28 29
+f 18 29 38
+f 18 38 43
+f 18 43 49
+f 18 49 48
+f 18 48 47
+f 18 47 46
+f 18 46 45
+f 18 45 44
+f 18 44 39
+f 18 39 30
+f 18 30 20
+f 18 20 19
+f 22 31 23
+f 23 31 32
+f 24 25 26
+f 25 33 27
+f 25 27 26
+f 27 33 34
+f 27 34 35
+f 27 35 36
+f 27 36 37
+f 27 37 29
+f 27 29 28
+f 30 39 40
+f 31 41 32
+f 32 41 42
+f 38 42 43
+f 39 44 40
+f 40 44 41
+f 41 44 45
+f 41 45 46
+f 41 46 42
+f 42 46 47
+f 42 47 48
+f 42 48 49
+f 42 49 43
+
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_27.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..428005afb643e481d6867d9189cb6e9fb7228938
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_27.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.04210178 -0.04991953 -0.01198360
+v -0.04210178 -0.04991953 -0.01000742
+v -0.04199708 -0.04991953 -0.01202740
+v -0.04193226 -0.05000394 -0.01202740
+v -0.04048138 -0.05186315 -0.01202741
+v -0.04192229 -0.05186315 -0.01140776
+v -0.04207685 -0.04991954 -0.00815105
+v -0.04192229 -0.05186316 -0.00804027
+v 0.00883376 -0.04991953 -0.01202740
+v -0.04117441 -0.05480284 -0.01044545
+v -0.02203370 -0.06541362 -0.01202746
+v -0.03981826 -0.05186317 -0.00555008
+v -0.03920500 -0.04991955 -0.00565184
+v -0.04117441 -0.05480285 -0.00876428
+v -0.03708601 -0.05588758 -0.00442545
+v 0.00883376 -0.04991954 -0.00813430
+v 0.00883376 -0.05617034 -0.01202743
+v -0.03249403 -0.06004072 -0.00614657
+v -0.02180435 -0.06440279 -0.00423740
+v -0.03249403 -0.06004073 -0.00407248
+v -0.00388018 -0.07147662 -0.01202748
+v -0.01142379 -0.06921856 -0.01012987
+v -0.01142379 -0.06921857 -0.00899364
+v -0.03736522 -0.05186317 -0.00436360
+v -0.03771921 -0.04991955 -0.00493428
+v -0.03382027 -0.05722765 -0.00350564
+v -0.02223812 -0.06004707 0.00032561
+v -0.02844551 -0.05677816 -0.00126666
+v -0.00096345 -0.06992763 -0.00960299
+v 0.00883376 -0.05452006 -0.01084223
+v -0.01574154 -0.04991957 0.00029087
+v -0.01652931 -0.05677816 -0.00007760
+v -0.01371230 -0.06168891 -0.00205251
+v -0.01020724 -0.06555925 -0.00432757
+v -0.00015076 -0.07059450 -0.01202748
+v -0.01861838 -0.06506122 -0.00352242
+v -0.00879624 -0.07003105 -0.00840363
+v -0.02365909 -0.06193159 -0.00218649
+v -0.00388018 -0.07056285 -0.00886096
+v -0.03141709 -0.04991956 -0.00233588
+v -0.03692147 -0.04991955 -0.00456198
+v -0.02319042 -0.04991957 0.00091181
+v -0.01981499 -0.06004707 0.00032561
+v -0.01837906 -0.04991957 0.00113339
+v -0.02133069 -0.04991957 0.00111922
+v -0.02289126 -0.05677816 0.00057555
+v -0.02534929 -0.05677816 -0.00019354
+v -0.01371230 -0.06593068 -0.00359069
+v -0.01898235 -0.05677816 0.00057555
+f 1 2 7
+f 1 7 13
+f 1 13 25
+f 1 25 41
+f 1 41 40
+f 1 40 42
+f 1 42 45
+f 1 45 44
+f 1 44 31
+f 1 31 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 8
+f 1 8 2
+f 2 8 7
+f 3 9 17
+f 3 17 35
+f 3 35 21
+f 3 21 11
+f 3 11 5
+f 3 5 4
+f 5 10 6
+f 5 11 10
+f 6 10 14
+f 6 14 8
+f 7 8 12
+f 7 12 13
+f 8 14 15
+f 8 15 12
+f 9 16 30
+f 9 30 17
+f 10 18 20
+f 10 20 14
+f 10 11 18
+f 11 19 20
+f 11 20 18
+f 11 21 22
+f 11 22 23
+f 11 23 19
+f 12 15 24
+f 12 24 13
+f 13 24 25
+f 14 20 15
+f 15 20 26
+f 15 26 27
+f 15 27 28
+f 15 28 24
+f 16 29 30
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+f 16 32 33
+f 16 33 34
+f 16 34 29
+f 17 30 29
+f 17 29 35
+f 19 36 20
+f 19 23 37
+f 19 37 36
+f 20 36 38
+f 20 38 27
+f 20 27 26
+f 21 35 39
+f 21 39 37
+f 21 37 22
+f 22 37 23
+f 24 40 41
+f 24 41 25
+f 24 28 42
+f 24 42 40
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+f 27 44 45
+f 27 45 46
+f 27 46 47
+f 27 47 28
+f 27 38 36
+f 27 36 48
+f 27 48 43
+f 28 47 42
+f 29 34 39
+f 29 39 35
+f 31 44 32
+f 32 44 49
+f 32 49 43
+f 32 43 33
+f 33 43 34
+f 34 43 48
+f 34 48 39
+f 36 37 48
+f 37 39 48
+f 42 47 46
+f 42 46 45
+f 43 49 44
+
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_28.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a63602a192f692510a831120ff627e8acb103d9e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_28.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v -0.02469963 -0.01763515 -0.04207004
+v -0.02469963 -0.02247839 -0.04132341
+v -0.02469963 0.00685460 -0.03634337
+v -0.01831516 -0.00747864 -0.05938308
+v -0.01809622 -0.01254283 -0.05938310
+v -0.02469963 -0.02897346 -0.03753683
+v -0.01906378 0.00685461 -0.03715003
+v -0.00879143 0.00202196 -0.05724308
+v -0.01370337 0.00304951 -0.05226315
+v -0.01305715 0.00063318 -0.05938305
+v -0.01539130 -0.00061183 -0.05938305
+v -0.01567380 -0.00069249 -0.05923639
+v -0.01723107 -0.00323160 -0.05938306
+v -0.02469963 0.00685451 -0.01081710
+v -0.01687795 -0.01624979 -0.05938311
+v -0.01595277 -0.01765612 -0.05938311
+v -0.01510527 -0.01870473 -0.05938312
+v -0.01264753 -0.02102289 -0.05938313
+v -0.01020392 -0.02224685 -0.05938313
+v -0.02371088 -0.02897346 -0.03821015
+v -0.02469963 -0.02897360 -0.00062406
+v 0.00095478 0.00685460 -0.03427674
+v -0.00879143 0.00317576 -0.05226315
+v 0.00230018 0.00685459 -0.03362342
+v 0.00620925 0.00685459 -0.03133012
+v -0.00578281 0.00085061 -0.05938305
+v -0.00879143 0.00128198 -0.05938305
+v -0.01561730 -0.00075913 -0.05938305
+v -0.02469963 0.00271968 -0.00785716
+v -0.01227322 0.00186390 0.00872258
+v -0.00894327 0.00685444 0.00872260
+v -0.00868549 -0.02280448 -0.05938313
+v -0.00682453 -0.02497185 -0.05508321
+v -0.01370337 -0.02897344 -0.04250342
+v -0.02260561 -0.02897361 0.00158924
+v -0.02258089 -0.02729023 0.00158925
+v -0.01762657 -0.01254658 0.00656256
+v -0.02469963 -0.02729022 -0.00068405
+v 0.01137545 0.00685457 -0.02809017
+v -0.00388301 0.00049289 -0.05938305
+v -0.02469963 0.00236898 -0.00767050
+v -0.02077643 -0.00121526 -0.00034395
+v -0.01421187 -0.00253395 0.00872256
+v 0.01137545 0.00685444 0.00872260
+v -0.00401014 -0.02273784 -0.05938313
+v -0.00589935 -0.02497185 -0.05508321
+v -0.00879143 -0.02897344 -0.04405673
+v -0.02080468 -0.02897361 0.00322255
+v -0.01553608 -0.01318838 0.00872252
+v -0.01554314 -0.01254659 0.00872252
+v -0.01520061 -0.00770685 0.00872254
+v -0.01519355 -0.00764022 0.00872254
+v -0.01732641 -0.00764021 0.00625592
+v -0.02008431 -0.01254657 0.00350260
+v -0.02469963 -0.02237333 -0.00115069
+v 0.01137545 0.00072076 -0.03657673
+v 0.00377976 -0.00476418 -0.05938307
+v 0.00294992 -0.00394704 -0.05938306
+v 0.00119490 -0.00242498 -0.05938306
+v -0.00135818 -0.00022605 -0.05938305
+v -0.00177840 -0.00007174 -0.05938305
+v -0.02469963 -0.00273730 -0.00554389
+v -0.02124961 -0.00449085 0.00028935
+v -0.01978415 -0.00764020 0.00314263
+v 0.01137545 -0.02728323 0.00872247
+v -0.00011519 -0.02094574 -0.05938313
+v 0.01137545 -0.02897347 -0.03592352
+v -0.00388301 -0.02897344 -0.04309675
+v -0.01963937 -0.02897361 0.00407587
+v -0.01496049 -0.01791589 0.00872250
+v 0.01137545 -0.00278627 -0.03989669
+v 0.00475438 -0.00760490 -0.05938308
+v 0.01134013 -0.02730428 0.00872247
+v 0.01112120 -0.02897363 0.00745582
+v 0.01137545 -0.02897363 0.00729582
+v 0.00129024 -0.01962007 -0.05938312
+v 0.00234255 -0.01858549 -0.05938312
+v 0.00411523 -0.01613055 -0.05938311
+v 0.00479676 -0.01388253 -0.05938310
+v 0.00511810 -0.01254283 -0.05938310
+v 0.01137545 -0.01823135 -0.03800345
+v -0.01718163 -0.02897362 0.00562251
+v -0.01738998 -0.02729024 0.00578252
+v -0.01358331 -0.02255572 0.00872249
+v 0.01137545 -0.00479582 -0.04017670
+v 0.00493801 -0.00975121 -0.05938309
+v 0.00594441 -0.02851421 0.00872247
+v 0.00594441 -0.02897363 0.00824247
+v 0.01137545 -0.00764004 -0.03993671
+v -0.01475568 -0.02897362 0.00670916
+v -0.01191303 -0.02552620 0.00872248
+v 0.00089475 -0.02857734 0.00872247
+v 0.00020262 -0.02897363 0.00836247
+v 0.00512163 -0.02897363 0.00829580
+v -0.01073360 -0.02897363 0.00766248
+v -0.00892561 -0.02712892 0.00872247
+v -0.00395717 -0.02813545 0.00872247
+v -0.00518251 -0.02897363 0.00806914
+f 1 2 6
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+f 1 29 14
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+f 6 47 68
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+f 6 67 75
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+f 6 74 88
+f 6 88 94
+f 6 94 93
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+f 6 95 90
+f 6 90 82
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+f 6 35 21
+f 7 22 23
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+f 8 23 22
+f 8 22 24
+f 8 24 25
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+f 25 39 26
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+f 29 41 42
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+f 30 43 52
+f 30 52 51
+f 30 51 50
+f 30 50 49
+f 30 49 70
+f 30 70 84
+f 30 84 91
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+f 30 87 73
+f 30 73 65
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+f 33 47 34
+f 35 48 49
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+f 80 85 89
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+f 87 94 88
+f 90 95 91
+f 91 95 96
+f 92 97 98
+f 92 98 93
+f 95 98 97
+f 95 97 96
+
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_29.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f68b26debbd9a8860488e4b3a6a7e05145f31fe
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_29.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.04200177 -0.04991952 -0.01202775
+v -0.03827398 -0.04991951 -0.01390276
+v -0.04048449 -0.05186288 -0.01202776
+v -0.01356029 -0.04991952 -0.01202775
+v -0.03827398 -0.05186287 -0.01297727
+v -0.02851880 -0.04991950 -0.01563476
+v -0.02447084 -0.05765279 -0.01563479
+v -0.03827398 -0.05347691 -0.01202777
+v -0.01356029 -0.05765281 -0.01202778
+v -0.01356029 -0.04991950 -0.01563476
+v -0.01356029 -0.05765279 -0.01563479
+v -0.02462118 -0.05765280 -0.01259558
+v -0.02464066 -0.05765281 -0.01202778
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 9
+f 1 9 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 4 9 11
+f 4 11 10
+f 6 10 11
+f 6 11 7
+f 7 11 9
+f 7 9 13
+f 7 13 12
+f 7 12 8
+f 8 12 13
+
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_3.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..652f0fa60c2ceaed0b7ca86fb55bcc7aaafa257b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_3.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.01351432 -0.05677441 0.14519222
+v 0.01011375 -0.06168986 0.15041493
+v 0.01340340 -0.05942297 0.14505116
+v 0.01351432 -0.05677441 0.14374359
+v 0.01349163 -0.05379659 0.14483388
+v 0.00943061 -0.06538737 0.15025100
+v 0.00965748 -0.05818467 0.14991747
+v 0.00594685 -0.06168986 0.15100583
+v 0.01340340 -0.05942297 0.14430015
+v 0.00954153 -0.06544272 0.14693056
+v 0.01061287 -0.04697262 0.13153310
+v 0.01074143 -0.04694931 0.13199247
+v 0.01349163 -0.05379659 0.14365210
+v 0.01140188 -0.04694933 0.13697313
+v 0.00937515 -0.04368597 0.13697314
+v 0.00885334 -0.04417257 0.13989902
+v 0.00907518 -0.04901519 0.14475194
+v 0.01077168 -0.05203963 0.14565733
+v 0.00596702 -0.06685588 0.15050640
+v 0.00434614 -0.06934419 0.14976875
+v 0.00594685 -0.05803898 0.14990983
+v 0.00594685 -0.05186481 0.14709072
+v 0.00103128 -0.04770401 0.14555632
+v 0.00103128 -0.05186481 0.14768162
+v 0.00103128 -0.05575463 0.14905591
+v -0.00387926 -0.05186481 0.14770831
+v -0.00433048 -0.05677734 0.14909783
+v -0.00299193 -0.05841485 0.14957817
+v -0.00626646 -0.05928022 0.14941424
+v -0.00433048 -0.06122658 0.14991937
+v 0.00103128 -0.06660239 0.15073896
+v 0.00889368 -0.06463270 0.14411906
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+v 0.01051708 -0.04730478 0.13153310
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+v 0.00596702 -0.06795726 0.14682953
+v 0.00949111 -0.04333630 0.13153311
+v 0.00952892 -0.04331882 0.13199248
+v 0.00594685 -0.04120055 0.13199249
+v 0.00594685 -0.04224368 0.13697314
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+v 0.00103128 -0.04524484 0.14374744
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+v 0.00103128 -0.06955107 0.14993457
+v -0.00387926 -0.07002599 0.14693054
+v 0.00113715 -0.06964721 0.14682952
+v -0.00387926 -0.04768070 0.14561731
+v -0.00707060 -0.04856647 0.14508551
+v -0.00862594 -0.06122658 0.14837541
+v -0.00687650 -0.06255524 0.14965059
+v -0.00800078 -0.05186481 0.14589178
+v -0.00919060 -0.05651801 0.14651506
+v -0.00387926 -0.06660239 0.15021289
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+
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_30.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baff7a0efaab8225606e7d483319952a8159be1c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_30.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.01356029 -0.06645554 -0.01202852
+v -0.01356029 -0.06645115 -0.01217294
+v -0.01356029 -0.06636763 -0.01202781
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+v -0.01356029 -0.05765357 -0.01202778
+v -0.02622286 -0.07898489 -0.01487498
+v -0.02203742 -0.06541601 -0.01202781
+v -0.02711441 -0.08010573 -0.01563487
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+v -0.02717085 -0.07643111 -0.01458648
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+v -0.02384043 -0.06215675 -0.01202780
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+v -0.03052120 -0.07206857 -0.01563484
+v -0.03010116 -0.07151694 -0.01532269
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+v -0.03009618 -0.07700031 -0.01563486
+v -0.02894896 -0.07841566 -0.01563487
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+f 1 18 12
+f 1 12 3
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+f 1 4 5
+f 1 5 6
+f 1 6 7
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+f 21 30 31
+f 21 31 32
+f 21 32 22
+f 24 25 29
+
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_31.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39e368c8376e674df0bf14db0fc27efc3de2b067
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_31.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.02470174 -0.00279365 -0.02512420
+v -0.02470174 -0.00279364 -0.02588875
+v -0.02470174 0.00685456 -0.02512416
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+v -0.04588932 0.00028899 -0.03901757
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+
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_32.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cac15ab2c4cfd6d3210cb3ea80fc099ffc702fe
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_32.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.02469963 -0.02897350 -0.02761555
+v -0.02500104 -0.02897350 -0.02795745
+v -0.02469963 -0.02897346 -0.03753574
+v -0.02469963 -0.02365605 -0.02512428
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+v -0.03594666 -0.01349008 -0.02512424
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+f 31 43 32
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+f 40 46 47
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+
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_33.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67476efc13d628bde84db46fef3fa276894d414b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_33.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.01355809 -0.04991950 -0.01563476
+v -0.01355809 -0.06598889 -0.01563482
+v -0.01355809 -0.04991952 -0.01202775
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+v 0.00883157 -0.04991952 -0.01202775
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+v -0.00000899 -0.07040829 -0.01563484
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+v 0.00883157 -0.05898109 -0.01342434
+v -0.00015148 -0.07059290 -0.01202783
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+
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_4.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..585bd4be380deb82435a616cd705eb958e135386
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_4.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_5.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b31433f0e6a6134a17920aa4a64e340c0eebeee
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_5.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_6.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f256c53a073b785ab3e5e54b238aea89534704e5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_6.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_7.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfd12e75759e3a7670103d138f1c4a5091e92aea
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_7.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_8.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1245b01ab38e8302d597b83ae89b020b1c11bb15
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_8.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_9.obj b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60693c9206aba8e409ca3df3cbdd530d6f23bdba
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/decoration_94_collision_9.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.00019909 -0.02897363 0.00836804
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diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..145188ca02edfe0021be47405e3a3916b645c06d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2942970
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/textures/material_0.png b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..145188ca02edfe0021be47405e3a3916b645c06d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2942970
diff --git a/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/video.mp4 b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..418b298bc087108cf177ff3b349175984c6de253
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/37242c4063c9538da75ebd06cc776784/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 189015