diff --git a/.gitattributes b/.gitattributes
index 997d0c466bd9992190a9f983af69e30cb64e05c0..b81a11bcb8c7d71d259650c7007bfdbc1b5e25df 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2937,6 +2937,5 @@ dataset/desktop_supplies/decorations/a72649317b295e15a9d7da45fb4b734a/mesh/mouse
 dataset/desktop_supplies/decorations/b26f92a9866651f1829364b31bb4eef7/b26f92a9866651f1829364b31bb4eef7.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/b26f92a9866651f1829364b31bb4eef7/mesh/mouse_pad.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/b26f92a9866651f1829364b31bb4eef7/mesh/mouse_pad_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/ce864af4efa45b94b8a6bd80332a1877/ce864af4efa45b94b8a6bd80332a1877.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/ce864af4efa45b94b8a6bd80332a1877/mesh/glasses.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/ce864af4efa45b94b8a6bd80332a1877/mesh/glasses_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mesh/vase_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/vase_001.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mesh/material.mtl b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..732e5dde9da565e15473909dddf943d1d72123db
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl vase_001_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd vase_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mesh/material_0.png b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..006e8ae8ccf2c0e6039a1eeab83fe56bc11a2efa
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:669236b8c12cad49d657c0db8c9b55f367d7e433fa74c6b6bf2b1f20fcc63469
+size 11479950
diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mesh/vase_001.glb b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mesh/vase_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1c210dace839a490afac245c4af01864808727b0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mesh/vase_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94b72b8c809110faa962d47921570ba7ad2f605d004d874d272d86a4d302a899
+size 14701852
diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mesh/vase_001.mtl b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mesh/vase_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c51e8e5e83370712fd362d75d8debadb1ffc8ee7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mesh/vase_001.mtl
@@ -0,0 +1,6 @@
+newmtl vase_001_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mesh/vase_001.obj b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mesh/vase_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2772bd1c7657d1d16f602070ff046c2f6ea69bdd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mesh/vase_001.obj
@@ -0,0 +1,110978 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl vase_001_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mesh/vase_001_collision.obj b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mesh/vase_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45337cd5da9a1c8149def0ff1ce82df2d008e53b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mesh/vase_001_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mesh/vase_001_geometry_Looks_material_0.png b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mesh/vase_001_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 11479950
diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 11479950
diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001.obj b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision.obj b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e969c71eae3b695f60caea9f1457ffaa84d8291
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision.obj
@@ -0,0 +1,6345 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_0.obj b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb040306a2ee5913a58d2603ec1cf259d564fc21
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_1.obj b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ba873526be37d6ca280bb67e87852d32c3c2316
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_1.obj
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diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_10.obj b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99bc4eb94e7cd6223b07788930ab68a081b4b793
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_10.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_11.obj b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64da89b12c1b8adbd7b44e06fee46208e764ea96
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_11.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_12.obj b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cd798043f21f62d42f0db6c378274bd8eddbe66
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_12.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_13.obj b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9fd9b97e4a379ebcc5ae4d7a3a77f2887eeb54b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_13.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_14.obj b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2edf051da6367e2d766ab1af8da53f62f1ad48f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_14.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_15.obj b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90136cd9eb652b023588161347f6da2adc3d41d1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_15.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_16.obj b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..217d18dcf751c3061cbbf887d09ed01fd27a2f19
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_16.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_17.obj b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9dd0beded03fd0717f4876378d98022e1576d9d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_17.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_18.obj b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..157f4702ee5f039fa81fbdbc3782ad1aa2b980ce
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_18.obj
@@ -0,0 +1,235 @@
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diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_2.obj b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59823445d4a1d5b498a25b0f80e9c92a2d63516d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_2.obj
@@ -0,0 +1,403 @@
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+
diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_3.obj b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed6297df6189ef7b36b3fe7b828dd2e561cd78c5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_3.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_4.obj b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d81c07ea98b4a857e965e8912849495b11ca227e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_4.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_5.obj b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aed25cb2f5696bc0f75291599483fe3c316f3e6a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_5.obj
@@ -0,0 +1,673 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_6.obj b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53d3b20865ff94df443a5989f497eefa71547c84
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_6.obj
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diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_7.obj b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..699d8c3a41b2574e3c0d5146883792df308606c7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_7.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_8.obj b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7d4aa03597a9fe4b08a5dfb5417c4d12470e287
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_8.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_9.obj b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0cc5c26beba76d4dd577d6c451a61c84e181ef4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/mesh/vase_001_collision_9.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/vase_001.xml b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/vase_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e9be77fedd060c7ba2437ad5454056901ff415cc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/mjcf/vase_001.xml
@@ -0,0 +1,52 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="vase_001">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/vase_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/vase_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/vase_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/vase_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/vase_001_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/vase_001_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/vase_001_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/vase_001_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/vase_001_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/vase_001_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/vase_001_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/vase_001_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/vase_001_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/vase_001_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/vase_001_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/vase_001_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/vase_001_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/vase_001_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/vase_001_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/vase_001_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="vase_001">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/textures/material_0.png b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/textures/material_0.png
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+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:669236b8c12cad49d657c0db8c9b55f367d7e433fa74c6b6bf2b1f20fcc63469
+size 11479950
diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/vase_001.urdf b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/vase_001.urdf
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+++ b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/vase_001.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="vase_001">
+   <link name="vase_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/vase_001.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/vase_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</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>1.000000</scale>
+         <uuid>b562361aec0d5b3eac978016a5c16b1c</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>decorations</super_category>
+         <category>vase</category>
+         <name>square vase</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>ceramic</material>
+         <description>dark gray square vase with a narrow neck and scattered surface holes</description>
+         <min_height>0.0976</min_height>
+         <max_height>0.0976</max_height>
+         <real_height>0.0976</real_height>
+         <min_mass>1.5</min_mass>
+         <max_mass>2.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420200953</generate_time>
+         <gs_model>""</gs_model>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+         <tags>is_container,is_graspable</tags>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/vase_001.usd b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/vase_001.usd
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diff --git a/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/video.mp4 b/dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/video.mp4
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