diff --git a/.gitattributes b/.gitattributes
index 94b143f6266b3ab4f593dca5df60ba7ec581e46e..a87232423a0e38090af21b2b84f4d06fcb71a3df 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2912,6 +2912,6 @@ dataset/desktop_supplies/decorations/7a9e1b45e2ea571dbf4713d08a89cbb4/mesh/therm
 dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/8298700268da510ebd047e7620b9eaa5.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mesh/teacup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mesh/teacup_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/91b44b51dc6d51c6945c43a8bd546d30/91b44b51dc6d51c6945c43a8bd546d30.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/91b44b51dc6d51c6945c43a8bd546d30/mesh/thermos.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/91b44b51dc6d51c6945c43a8bd546d30/mesh/thermos_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/8973617a05155234a67d384e68a2ad16.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mesh/chessboard.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mesh/chessboard_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/8973617a05155234a67d384e68a2ad16.urdf b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/8973617a05155234a67d384e68a2ad16.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fc9e189033e9b4e762e2a9466e160a916856e9d7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/8973617a05155234a67d384e68a2ad16.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="chessboard">
+   <link name="chessboard">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/chessboard.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/chessboard_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="3.2500" />
+         <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>0.457965</scale>
+         <version>v0.1.7</version>
+         <category>chessboard</category>
+         <description>marble chessboard with detailed chess pieces</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>2.5</min_mass>
+         <max_mass>4.0</max_mass>
+         <generate_time>20260119213142</generate_time>
+         <gs_model>mesh/chessboard_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.749251842498779</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>17</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/8973617a05155234a67d384e68a2ad16.usd b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/8973617a05155234a67d384e68a2ad16.usd
new file mode 100644
index 0000000000000000000000000000000000000000..38dd40a932a8b161f272f4a8d40acd4736701a1e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/8973617a05155234a67d384e68a2ad16.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67f15bf10c84a32dec3832830bd95fc04557cfbadb9b9dcc38bd01eef2ef8ec6
+size 622347
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mesh/chessboard.glb b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mesh/chessboard.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e712c43c0e8343f030c3080f66d2882b43de6e48
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mesh/chessboard.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ecd8400852290e030cbfd50e70290444911f6f3d0530ac8b841f1b019266222
+size 2961064
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mesh/chessboard.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mesh/chessboard.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd7453f53ff5cc53781aff49135423789af6e3f3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mesh/chessboard.obj
@@ -0,0 +1,40860 @@
+# https://github.com/mikedh/trimesh
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+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mesh/chessboard_collision.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mesh/chessboard_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c69e8d01eb566189e8dfc91599bd33f648a022ad
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mesh/chessboard_collision.obj
@@ -0,0 +1,8732 @@
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diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mesh/chessboard_gs.ply b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mesh/chessboard_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9836073c802ed70368cdd2a922637e07732f3e56
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mesh/chessboard_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c28c59f86cd696de6707b4cf4471af5c5b48721556ebae5cbe7e999ef7c1222f
+size 3394857
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mesh/material.mtl b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mesh/material_0.png b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mesh/material_0.png
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16a03f84aa56dea47cb853b7b2820c33b5f312195195b9ceb766e7c98a61d27e
+size 2517036
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/8973617a05155234a67d384e68a2ad16.xml b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/8973617a05155234a67d384e68a2ad16.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8a4598540a88e961a92da25905e95f2114d42fad
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/8973617a05155234a67d384e68a2ad16.xml
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+    <mesh name="collision_mesh_0_24" file="mesh/chessboard_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/chessboard_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/chessboard_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/chessboard_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/chessboard_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/chessboard_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/chessboard_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/chessboard_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/chessboard_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/chessboard_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/chessboard_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/chessboard_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/chessboard_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/chessboard_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/chessboard_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="chessboard">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" 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/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7067707270ede8db6aa10c6840e49e7b90a40a98
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard.obj
@@ -0,0 +1,40860 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3db0687a2952b18800139b9aab4dfa43b6ed0071
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision.obj
@@ -0,0 +1,8732 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_0.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f34ad2913296c050e17f65a39b91aac418091ca
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_0.obj
@@ -0,0 +1,550 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_1.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc6cadc6b318c2f7d14bfcb8f2a5159ffe34aef2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_1.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_10.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be744868bb1660eb0c9caa665fb063b91a922ec9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_10.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_11.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..449981a99edb81683af7b40fade9d2447e5055f8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_11.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_12.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2332ce172e142fea4574361645ee9731260e36c6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_12.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_13.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..490bad37595d78399b5ad6091df8d66600bd5db9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_13.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+f 47 50 49
+f 47 49 48
+f 47 58 59
+f 50 61 62
+f 50 62 63
+f 50 63 51
+f 51 63 52
+f 52 63 71
+f 52 71 64
+f 52 64 54
+f 52 54 53
+f 54 64 55
+f 55 65 56
+f 55 64 66
+f 55 66 65
+f 57 67 68
+f 57 68 69
+f 57 69 59
+f 57 59 58
+f 59 70 62
+f 59 62 60
+f 59 69 70
+f 60 62 61
+f 62 71 63
+f 62 70 71
+f 64 71 76
+f 64 76 72
+f 64 72 66
+f 65 66 74
+f 65 74 73
+f 66 72 74
+f 67 73 68
+f 68 73 75
+f 68 75 69
+f 69 75 70
+f 70 76 71
+f 70 75 77
+f 70 77 76
+f 72 76 77
+f 72 77 74
+f 73 77 75
+f 73 74 77
+
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_14.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c40e65fb9da0c0cced41328890127ed53577e27
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_14.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.19726325 -0.18896506 -0.02283032
+v 0.19205128 -0.18896506 -0.02276302
+v 0.19726325 -0.18896495 -0.05091997
+v 0.19726325 -0.17770388 -0.02103079
+v 0.19193632 -0.18185387 -0.02103081
+v 0.18457824 -0.18304267 -0.02103081
+v 0.02637969 -0.18617679 -0.02103082
+v 0.18457824 -0.18896506 -0.02273376
+v 0.00150788 -0.18896496 -0.05035525
+v 0.19726325 0.03184919 -0.05036615
+v 0.19726325 -0.13335085 -0.02103063
+v 0.02327551 -0.18490153 -0.02103082
+v 0.00150788 -0.18896506 -0.02250846
+v 0.00396057 -0.18896506 -0.02249676
+v 0.01980725 -0.18896506 -0.02247628
+v 0.02637969 -0.18896506 -0.02247920
+v 0.18124412 -0.18896506 -0.02272791
+v 0.00150788 0.03184918 -0.04820090
+v 0.19726325 0.03184908 -0.02296118
+v 0.19546205 -0.13239981 -0.02103063
+v 0.02042042 -0.18364789 -0.02103081
+v 0.00815697 -0.17627732 -0.02103079
+v 0.00417134 -0.16936066 -0.02103076
+v 0.00296416 -0.16211979 -0.02103074
+v 0.00150788 0.02629415 -0.02309580
+v 0.00150788 0.03184908 -0.02311333
+v 0.03391022 0.03184908 -0.02307530
+v 0.02637969 -0.13791152 -0.02103065
+v 0.18457824 -0.13086517 -0.02103062
+v 0.18831476 -0.13097325 -0.02103062
+v 0.19210877 -0.13138393 -0.02103062
+v 0.00300249 -0.15840210 -0.02103072
+v 0.00150788 0.03018476 -0.02310749
+v 0.00323243 -0.15453310 -0.02103071
+v 0.00447793 -0.15055603 -0.02103069
+v 0.00570428 -0.14893493 -0.02103069
+v 0.01097373 -0.14242895 -0.02103066
+v 0.01306235 -0.14113208 -0.02103066
+v 0.01873420 -0.13845188 -0.02103065
+f 1 2 8
+f 1 8 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 9
+f 1 9 3
+f 1 3 10
+f 1 10 19
+f 1 19 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 6 7
+f 3 9 10
+f 4 11 20
+f 4 20 31
+f 4 31 30
+f 4 30 29
+f 4 29 28
+f 4 28 39
+f 4 39 38
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+f 4 35 34
+f 4 34 32
+f 4 32 24
+f 4 24 23
+f 4 23 22
+f 4 22 21
+f 4 21 12
+f 4 12 7
+f 4 7 6
+f 4 6 5
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 9 13 25
+f 9 25 33
+f 9 33 26
+f 9 26 18
+f 9 18 10
+f 10 18 26
+f 10 26 27
+f 10 27 19
+f 11 19 20
+f 12 21 13
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 24 32 26
+f 24 26 33
+f 24 33 25
+f 26 32 34
+f 26 34 35
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 27
+f 27 39 28
+
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_15.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5e4b3bac498af9528d21cde7d595c29445ca76a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_15.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.00292129 0.19211843 -0.05005941
+v -0.00292129 0.19211833 -0.02238156
+v -0.00284495 0.19211843 -0.05006237
+v -0.00292129 0.03184919 -0.04817893
+v -0.00292129 0.17051588 -0.02086731
+v 0.01856988 0.18948274 -0.02086724
+v 0.02637618 0.19045540 -0.02086724
+v 0.02637618 0.19211833 -0.02169538
+v 0.00429333 0.19211843 -0.05022800
+v -0.00292129 0.03184909 -0.02310973
+v 0.01883709 0.03184919 -0.04831202
+v -0.00292129 0.14674846 -0.02086740
+v 0.08665073 0.19045540 -0.02086724
+v 0.08665073 0.19211833 -0.02169538
+v 0.10170982 0.19211844 -0.05077221
+v 0.03391527 0.03184909 -0.02307720
+v 0.02637618 0.13096627 -0.02086746
+v 0.02301699 0.13115453 -0.02086746
+v 0.01883709 0.13186049 -0.02086746
+v 0.01662308 0.13262920 -0.02086745
+v 0.01393191 0.13427645 -0.02086745
+v 0.01314937 0.13484122 -0.02086744
+v 0.02637618 0.03385726 -0.04837709
+v 0.02637618 0.03184919 -0.04835047
+v 0.14356608 0.18662751 -0.02086725
+v 0.19206437 0.19210264 -0.02232536
+v 0.18880061 0.19211833 -0.02234902
+v 0.19206437 0.19211844 -0.05108276
+v 0.19206437 0.04138753 -0.04921112
+v 0.19206437 0.03385726 -0.04911650
+v 0.04145436 0.03184909 -0.02307128
+v 0.04698939 0.03184909 -0.02306833
+v 0.04897436 0.03184909 -0.02306833
+v 0.18458254 0.13129572 -0.02086746
+v 0.19206437 0.03186488 -0.04908989
+v 0.18656752 0.03184919 -0.04898637
+v 0.18458254 0.18303495 -0.02086727
+v 0.18901056 0.18199954 -0.02086727
+v 0.19070925 0.18156028 -0.02086727
+v 0.19206437 0.18072881 -0.02086728
+v 0.19206437 0.19211834 -0.02338125
+v 0.05651346 0.03184909 -0.02307128
+v 0.10170982 0.03184909 -0.02309495
+v 0.16198437 0.03184909 -0.02312748
+v 0.19206437 0.03184910 -0.02315706
+v 0.18946865 0.13153104 -0.02086746
+v 0.19206437 0.03184919 -0.04832681
+v 0.19206437 0.13208012 -0.02086745
+f 1 2 8
+f 1 8 14
+f 1 14 27
+f 1 27 41
+f 1 41 28
+f 1 28 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 10
+f 1 10 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 9 11
+f 4 11 24
+f 4 24 36
+f 4 36 47
+f 4 47 45
+f 4 45 44
+f 4 44 43
+f 4 43 42
+f 4 42 33
+f 4 33 32
+f 4 32 31
+f 4 31 16
+f 4 16 10
+f 5 12 22
+f 5 22 21
+f 5 21 20
+f 5 20 19
+f 5 19 18
+f 5 18 17
+f 5 17 34
+f 5 34 46
+f 5 46 48
+f 5 48 40
+f 5 40 39
+f 5 39 38
+f 5 38 37
+f 5 37 25
+f 5 25 13
+f 5 13 7
+f 5 7 6
+f 7 13 14
+f 7 14 8
+f 9 15 11
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 12
+f 11 15 23
+f 11 23 24
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 15 28 29
+f 15 29 30
+f 15 30 23
+f 16 31 17
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 23 30 24
+f 24 30 35
+f 24 35 36
+f 25 37 26
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 48
+f 26 48 45
+f 26 45 47
+f 26 47 35
+f 26 35 30
+f 26 30 29
+f 26 29 28
+f 26 28 41
+f 26 41 27
+f 33 42 34
+f 34 43 44
+f 34 44 45
+f 34 45 46
+f 34 42 43
+f 35 47 36
+f 45 48 46
+
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_16.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aa6a4625f75cab2a215acf265f84e18619e7fe8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_16.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.19215044 0.19213510 -0.05046930
+v -0.19215044 0.04138851 -0.04875158
+v -0.19215044 0.19213499 -0.02290136
+v -0.02607482 0.19213509 -0.05026067
+v -0.19215044 0.03385746 -0.04862121
+v -0.00293981 0.03184918 -0.04817788
+v -0.19215044 0.18168566 -0.02086727
+v -0.18457460 0.18355274 -0.02086727
+v -0.14612123 0.18890291 -0.02086725
+v -0.14619531 0.19213499 -0.02215957
+v -0.00293981 0.19213509 -0.05006364
+v -0.19215044 0.03186487 -0.04856906
+v -0.19211339 0.03184918 -0.04856037
+v -0.00293981 0.03184908 -0.02311058
+v -0.19215044 0.13463226 -0.02086745
+v -0.02637118 0.19204086 -0.02086723
+v -0.02637118 0.19213499 -0.02091359
+v -0.00293981 0.19213499 -0.02237689
+v -0.19215044 0.03184918 -0.04847343
+v -0.00293981 0.14674471 -0.02086740
+v -0.00421789 0.14286935 -0.02086742
+v -0.00568119 0.14111211 -0.02086742
+v -0.01086758 0.13500881 -0.02086744
+v -0.01340521 0.13381640 -0.02086745
+v -0.01885091 0.13136881 -0.02086746
+v -0.02637118 0.13092950 -0.02086746
+v -0.14691771 0.03184908 -0.02309609
+v -0.19215044 0.03184909 -0.02318012
+v -0.19085384 0.13375365 -0.02086745
+v -0.01988819 0.19128775 -0.02086724
+v -0.01885091 0.19213499 -0.02138301
+v -0.00612574 0.17743375 -0.02086729
+v -0.00521812 0.17577063 -0.02086729
+v -0.00293981 0.17051460 -0.02086731
+v -0.01394237 0.19007964 -0.02086724
+v -0.01259020 0.18838516 -0.02086725
+v -0.18457460 0.13185519 -0.02086746
+v -0.14889965 0.03184908 -0.02309609
+v -0.18657508 0.03184909 -0.02316274
+v -0.18707519 0.13251416 -0.02086745
+v -0.18457460 0.03184909 -0.02315694
+v -0.17705434 0.03184908 -0.02313955
+v -0.16951554 0.03184908 -0.02312217
+v -0.16397724 0.03184908 -0.02311348
+v -0.15643845 0.03184908 -0.02310189
+v -0.15443797 0.03184908 -0.02309899
+f 1 2 5
+f 1 5 12
+f 1 12 19
+f 1 19 28
+f 1 28 15
+f 1 15 7
+f 1 7 3
+f 1 3 10
+f 1 10 17
+f 1 17 31
+f 1 31 18
+f 1 18 11
+f 1 11 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 6
+f 5 6 12
+f 6 13 12
+f 6 11 18
+f 6 18 34
+f 6 34 20
+f 6 20 14
+f 6 14 27
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+f 6 45 44
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+f 6 42 41
+f 6 41 39
+f 6 39 28
+f 6 28 19
+f 6 19 13
+f 7 15 29
+f 7 29 40
+f 7 40 37
+f 7 37 26
+f 7 26 25
+f 7 25 24
+f 7 24 23
+f 7 23 22
+f 7 22 21
+f 7 21 20
+f 7 20 34
+f 7 34 33
+f 7 33 32
+f 7 32 36
+f 7 36 35
+f 7 35 30
+f 7 30 16
+f 7 16 9
+f 7 9 8
+f 9 16 10
+f 10 16 17
+f 12 13 19
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 15 28 29
+f 16 30 17
+f 17 30 31
+f 18 32 33
+f 18 33 34
+f 18 31 30
+f 18 30 35
+f 18 35 36
+f 18 36 32
+f 26 37 38
+f 26 38 27
+f 28 39 37
+f 28 37 40
+f 28 40 29
+f 37 39 41
+f 37 41 42
+f 37 42 43
+f 37 43 44
+f 37 44 45
+f 37 45 46
+f 37 46 38
+
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_17.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67661caa3b13e1879eece7ece999faa088440183
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_17.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.00150788 -0.18766051 -0.02281239
+v -0.00447278 -0.16211265 -0.02102781
+v -0.00509414 -0.16419688 -0.02102781
+v -0.00643397 -0.16711909 -0.02102782
+v -0.01058936 -0.17326433 -0.02102785
+v -0.01264764 -0.17586424 -0.02102786
+v -0.01930792 -0.18153677 -0.02102788
+v -0.02637597 -0.18301935 -0.02102788
+v -0.08664860 -0.18475978 -0.02102789
+v -0.02637597 -0.18766051 -0.02255662
+v 0.00150788 -0.18766041 -0.05008821
+v 0.00150788 0.01122171 -0.02306448
+v -0.00554075 -0.15457077 -0.02102778
+v 0.00150788 0.01876359 -0.02307621
+v 0.00150788 0.03184908 -0.02311144
+v -0.19583447 -0.18766051 -0.02294762
+v -0.08664860 -0.18766051 -0.02260366
+v -0.18457219 -0.18188056 -0.02102788
+v -0.19686361 -0.18766040 -0.05106130
+v -0.19686361 0.03184918 -0.04992865
+v 0.00150788 0.03184918 -0.04820296
+v -0.00804564 -0.14728674 -0.02102775
+v -0.19686361 0.03184908 -0.02306146
+v -0.18457219 -0.13104269 -0.02102769
+v -0.02637597 -0.13800442 -0.02102772
+v -0.02243417 -0.13821929 -0.02102772
+v -0.01897782 -0.13873498 -0.02102772
+v -0.01511369 -0.14013162 -0.02102772
+v -0.01357969 -0.14165719 -0.02102773
+v -0.19686361 -0.18766051 -0.02299466
+v -0.18798970 -0.18117149 -0.02102788
+v -0.19686361 -0.13370704 -0.02102770
+v -0.19210628 -0.13160134 -0.02102769
+v -0.19004799 -0.18061283 -0.02102787
+v -0.19550437 -0.17876496 -0.02102787
+v -0.19686361 -0.17809887 -0.02102786
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 17
+f 1 17 16
+f 1 16 30
+f 1 30 19
+f 1 19 11
+f 1 11 21
+f 1 21 15
+f 1 15 14
+f 1 14 12
+f 1 12 2
+f 2 13 22
+f 2 22 29
+f 2 29 28
+f 2 28 27
+f 2 27 26
+f 2 26 25
+f 2 25 24
+f 2 24 33
+f 2 33 32
+f 2 32 36
+f 2 36 35
+f 2 35 34
+f 2 34 31
+f 2 31 18
+f 2 18 9
+f 2 9 8
+f 2 8 7
+f 2 7 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 2 12 14
+f 2 14 15
+f 2 15 13
+f 9 16 17
+f 9 17 10
+f 9 18 16
+f 11 19 20
+f 11 20 21
+f 13 15 22
+f 15 21 20
+f 15 20 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 22
+f 16 18 30
+f 18 31 30
+f 19 30 36
+f 19 36 32
+f 19 32 23
+f 19 23 20
+f 23 32 33
+f 23 33 24
+f 30 31 34
+f 30 34 35
+f 30 35 36
+
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_18.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6c6f38b68db3c039eca16c1190f7cf6fd4f0e5c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_18.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.11667536 -0.15459206 -0.02102778
+v -0.12859103 -0.15459214 -0.00055582
+v -0.11674199 -0.15768185 -0.02102779
+v -0.11940342 -0.14682238 -0.02102775
+v -0.13234997 -0.14757848 -0.00055579
+v -0.12912411 -0.15928436 -0.00055584
+v -0.11696933 -0.16212343 -0.02102781
+v -0.12506729 -0.14023192 -0.02102773
+v -0.12776007 -0.13883083 -0.02102772
+v -0.13185217 -0.13715035 -0.02102771
+v -0.13910742 -0.14525703 -0.00055578
+v -0.12970029 -0.16241523 -0.00055585
+v -0.11780029 -0.16478181 -0.02102782
+v -0.13501924 -0.13685862 -0.02102771
+v -0.13938179 -0.13673536 -0.02102771
+v -0.14708386 -0.13801319 -0.02102772
+v -0.14219609 -0.14666633 -0.00055579
+v -0.13356113 -0.16772376 -0.00055587
+v -0.12407170 -0.17404709 -0.02102785
+v -0.11920744 -0.16725939 -0.02102782
+v -0.15285749 -0.14104135 -0.02102773
+v -0.14573159 -0.14836736 -0.00055579
+v -0.13938179 -0.16951930 -0.00055587
+v -0.13158173 -0.17809011 -0.02102786
+v -0.12598449 -0.17554267 -0.02102785
+v -0.15470363 -0.14259035 -0.02102773
+v -0.15671442 -0.14661284 -0.01842267
+v -0.14918871 -0.15453462 -0.00055582
+v -0.14695452 -0.17778606 -0.02102786
+v -0.14315248 -0.17855030 -0.02102787
+v -0.13938179 -0.17871053 -0.02102787
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diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_19.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e96d955ba06a006d2dbd8043b3a5339abc04c4d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_19.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_2.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64982e53062a18760a1448617ca8c333521338e3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_2.obj
@@ -0,0 +1,535 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_20.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..247b75e906c5e13ea4789b2f0d3ddfb0f12551a9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_20.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_21.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be366f6d2335ed7e6ce79028b6656866335a0ba0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_21.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_22.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..534b312af3c85edb6cf636baaf0b1021882e6c8a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_22.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.02636843 0.14146279 0.05396266
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diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_23.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..686e8833ae117cebb8806db203d56a3445061517
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_23.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_24.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afcad6ed9ab5224aa0ca1d40ffc44ab0f68b6434
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_24.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+v -0.14517420 -0.14168322 0.01272273
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+
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_25.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3c89f53e8bf3411a86edb42cc3bb85bac149112
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_25.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.18459429 -0.13105100 -0.02102769
+v -0.19212150 -0.13161339 -0.02102769
+v -0.18459429 -0.14320467 -0.00055578
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+
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_26.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4d50327dfe8668dc026402d50eef9dffc2ee26a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_26.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_27.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7819189cb1af0640b8366154fe4ec1a5ce9345e2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_27.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.18459034 0.18356552 -0.02086727
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+
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_28.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5811877047b7218f440b33bee4525ac75b2c099
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_28.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_29.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86afb67f368da4f953829a4d8ece1db7de90ef92
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_29.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_3.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e6066d514821fafe070c0ad773571ef0364282d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_3.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_30.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f61d8886f20ee96d7950dd404c84aa52a4edbec
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_30.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.11663168 0.16197457 -0.02086735
+v -0.11667073 0.15904252 -0.02086736
+v -0.11783795 0.16951184 -0.02086732
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+v -0.14964813 0.16045198 -0.00116076
+v -0.14920554 0.15425433 -0.00116078
+v -0.16095592 0.15444267 -0.01493958
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+
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_31.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3fcb6efb9ec77549468e8989110c0bf4467d1c2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_31.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.10959634 0.16197578 -0.02086735
+v 0.10957797 0.15884526 -0.02086736
+v 0.10864997 0.16951412 -0.02086732
+v 0.09604380 0.16197570 -0.00116076
+v 0.10934367 0.15444315 -0.02086737
+v 0.10557193 0.17724633 -0.02086729
+v 0.09356300 0.16890961 -0.00116073
+v 0.09563953 0.15696344 -0.00116077
+v 0.09528578 0.15403820 -0.00116078
+v 0.10849836 0.15162054 -0.02086738
+v 0.09998093 0.18324507 -0.02086727
+v 0.09133946 0.16987898 -0.00116073
+v 0.09408673 0.18926662 -0.02086724
+v 0.09207451 0.14931676 -0.00116080
+v 0.10713392 0.14877513 -0.02086739
+v 0.08663971 0.17161817 -0.00116072
+v 0.09170240 0.18996229 -0.02086724
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+
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_32.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..943812cb333da1d3e4abea9ca812c4f4cc1dc18c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_32.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.05060616 0.15444482 -0.02086737
+v 0.05058707 0.15819449 -0.02086736
+v 0.03888707 0.16109399 -0.00116076
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+
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_33.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d8855d1bbe241ad0dbbc9c4bead2db130b6ff82
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_33.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.18459242 -0.13772025 0.03286855
+v 0.18459242 -0.14062469 0.03775171
+v 0.19212295 -0.14126043 0.03749941
+v 0.19212295 -0.13870437 0.03286855
+v 0.19212295 -0.13894382 0.02549902
+v 0.18459242 -0.13815132 0.02549902
+v 0.17705748 -0.13887419 0.03286855
+v 0.17705748 -0.14108189 0.03786972
+v 0.17745615 -0.14752646 0.03800399
+v 0.20393702 -0.15458934 0.03684013
+v 0.19977751 -0.14720422 0.03707619
+v 0.19734559 -0.14233161 0.03709249
+v 0.18459242 -0.14581080 0.03775169
+v 0.19861692 -0.14150425 0.03286854
+v 0.19840872 -0.14160437 0.02549901
+v 0.19231786 -0.14414291 -0.00356809
+v 0.18810963 -0.14283223 -0.00356808
+v 0.18459242 -0.14234454 -0.00356808
+v 0.17705748 -0.13970585 0.02549902
+v 0.17047934 -0.14163924 0.03286854
+v 0.17109507 -0.14215309 0.03743024
+v 0.16895996 -0.14654671 0.03789412
+v 0.16879162 -0.15531218 0.03791444
+v 0.20368452 -0.16006720 0.03666921
+v 0.20561145 -0.16239681 0.03355210
+v 0.20617845 -0.15458932 0.03286849
+v 0.20384842 -0.14981689 0.03681574
+v 0.20238661 -0.14469170 0.03286853
+v 0.20217399 -0.14477440 0.02549900
+v 0.19789930 -0.14833623 -0.00356810
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+
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_34.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7aa626659c8993e4edf353359ed0d4dd89675bee
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_34.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_35.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..721dae078fa05d19fc537d836340360c405823e6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_35.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.13938075 0.14211928 0.01589194
+v 0.13938075 0.15692325 0.03106076
+v 0.13419917 0.15713642 0.03080312
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+v 0.14497441 0.17498581 0.01203949
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+
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_36.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b2c7e365e372aea0c35e6a385adab02a1e3abb5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_36.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+v 0.17686136 0.18172527 -0.02086727
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+
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_37.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46b82b330d232cd4f2ce17daca83f3e854f1a96d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_37.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.08664378 0.14556598 0.01076114
+v -0.09312800 0.14831904 0.01076115
+v -0.08690254 0.14876338 -0.00116080
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+
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_38.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68e0b9f9d314f7ed97ceb31ee2c3174b25334e45
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_38.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.16160997 0.14554677 -0.02086741
+v 0.16160997 0.14687000 -0.01894034
+v 0.14524559 0.14905448 -0.00116080
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+
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_4.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46994fa38b38727ab852e9b7430162557f8352e6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_4.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.08664157 -0.18348006 -0.02102202
+v 0.08214782 -0.18274530 -0.02102202
+v 0.09380400 -0.18149530 -0.02102202
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+
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_5.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42022fbf568f64de6986ddad7402669e9782e4ab
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_5.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.06270555 0.16197448 -0.02086735
+v -0.06281376 0.15839801 -0.02086736
+v -0.06321505 0.16970832 -0.02086732
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+
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_6.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23387a30073e01f9e9f2517b202c6c038b239ae6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_6.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+v -0.01930246 -0.18153811 -0.02102789
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+
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_7.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0196737183f722b07abb7d959fec51f983c7ccd2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_7.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.18458943 0.18140362 0.02744674
+v 0.18458943 0.18140361 0.03081953
+v 0.19034928 0.18128790 0.02781085
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diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_8.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6352a542f31349608ffbd41d1bef01b8432214af
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_8.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_9.obj b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eca1c98b460577b44f2198be8145ff8e8c4a879f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/chessboard_collision_9.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0bdf2a472b9d9b50ac153ed5bc98cd81bd40c61b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16a03f84aa56dea47cb853b7b2820c33b5f312195195b9ceb766e7c98a61d27e
+size 2517036
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/textures/material_0.png b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0bdf2a472b9d9b50ac153ed5bc98cd81bd40c61b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16a03f84aa56dea47cb853b7b2820c33b5f312195195b9ceb766e7c98a61d27e
+size 2517036
diff --git a/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/video.mp4 b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4cc198ee953a807951c76cfec2a00978e13e8c90
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/video.mp4
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+version https://git-lfs.github.com/spec/v1
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