diff --git a/.gitattributes b/.gitattributes
index 290481c7fda32e87be8cac94228fdbdc0c9433e2..fa62ae46f9ba2316dadf3dbbd37b574a75d191bf 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2867,10 +2867,6 @@ dataset/desktop_supplies/decorations/0f6c25c786375b469ba227bc449305b5/0f6c25c786
 dataset/desktop_supplies/decorations/0f6c25c786375b469ba227bc449305b5/mesh/glasses.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/0f6c25c786375b469ba227bc449305b5/mesh/glasses_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/0f02d7fb5cd655719085b8a60f0aae38.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/137c1242dcee51cb9c616fddfa30c483.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacup.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacup_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/1a4b28d3d02b5830985fc5615ba309eb/mesh/vase_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/1a4b28d3d02b5830985fc5615ba309eb/vase_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mesh/mini_sculpture_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/229f6c15c75a5e5abdd7884732955100/mini_sculpture_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/12f1372945c55c54a6c90cc6a99a1048.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mesh/teacup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mesh/teacup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/12f1372945c55c54a6c90cc6a99a1048.urdf b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/12f1372945c55c54a6c90cc6a99a1048.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d56bc1d7a060eabd666e45b52660b27396b00a36
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/12f1372945c55c54a6c90cc6a99a1048.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="teacup">
+   <link name="teacup">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/teacup.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/teacup_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.135843</scale>
+         <version>v0.1.7</version>
+         <category>teacup</category>
+         <description>simple ceramic teacup with a handle and circular base</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120051625</generate_time>
+         <gs_model>mesh/teacup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.937018394470215</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/12f1372945c55c54a6c90cc6a99a1048.usd b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/12f1372945c55c54a6c90cc6a99a1048.usd
new file mode 100644
index 0000000000000000000000000000000000000000..fc029fa54e73027d421c5c4727fa824cb6ff5e4e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/12f1372945c55c54a6c90cc6a99a1048.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eef0c5e3320dfc97bd9421b36b4efbd37542f8d93a9e70842f2dc1cebfaa13c0
+size 828167
diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mesh/material.mtl b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mesh/material_0.png b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..993c49dbe921e6ed4737dc791cda1aa558c534a3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3816b272a3f40ebc32281c8e55e1262c980f55abb51a151b71b70e2e93dabef1
+size 1072184
diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mesh/teacup.glb b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mesh/teacup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a268d58649738fef6af13fe74a0d1c460b12a8f2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mesh/teacup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:565645465577367cc6f5e6e42ed650b51a1ea9677cc4d65ebffa9a1f499247e1
+size 1636528
diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mesh/teacup.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mesh/teacup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..968e05e998c80dd0cb5049e3e7c2eb9e7fea8be5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mesh/teacup.obj
@@ -0,0 +1,51632 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mesh/teacup_collision.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mesh/teacup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6e6b6aa58601f6a8782055275dddc0cd4461da8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mesh/teacup_collision.obj
@@ -0,0 +1,24638 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mesh/teacup_gs.ply b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mesh/teacup_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6748fd8ef62e23a4496effbe74dad8426ce50b6e
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/12f1372945c55c54a6c90cc6a99a1048.xml b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/12f1372945c55c54a6c90cc6a99a1048.xml
new file mode 100644
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3816b272a3f40ebc32281c8e55e1262c980f55abb51a151b71b70e2e93dabef1
+size 1072184
diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup.obj
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index 0000000000000000000000000000000000000000..dbffca46c3d17c0e6131336f3a99997e6c217aa0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup.obj
@@ -0,0 +1,51632 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25f2916ed44d8e01cbd6f72b83b9f393ce689996
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision.obj
@@ -0,0 +1,24638 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_0.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ec79e7f41c45d93a94310abb2ac3b00fc525126
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_1.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77cf0b3635f0b9c1e99d3a8027a559acd621ada4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_1.obj
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_10.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab0da6f723cf576b0999c5b6e1968a3bef63e8be
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_10.obj
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_11.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff0fb20794454cba2742256905cf95acc7548fd4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_11.obj
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_12.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae90dedbae35b087b9ca3c4d81828dce308c217d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_12.obj
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_13.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e40ac0b3eda26e9258b20753071d323da1309a2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_13.obj
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_14.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f957cfa1a3adc7795c8c55078166bc743b74d539
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_14.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_15.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71d17beec4e23bb81825733cadc2c8c8919ddadd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_15.obj
@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_16.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaa380a7ae03c98b11618c6cc04d9d75bc2c2f3e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_16.obj
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_17.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcd80584f18d0553d0fa9523c66e61b19323f4e3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_17.obj
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_18.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..822b442281eb589b705b50780a756308955b8460
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_18.obj
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_19.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a21eb5e34345df97a28cc5e9d0b0a2a4e878e97e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_19.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_2.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..807d6a656cce1068fd4dc8a9d667214785738273
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_2.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_20.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc70e2115984d95d24035c946f0bb58db182c453
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_20.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_21.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70427d821ae71516ec270d9f3c2d839514cbb9a1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_21.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_22.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38ad6090bcb7cf66ee21b08233ce9e8b53cd054d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_22.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_23.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..525590ac7dc8c984fce47566a663767ab35e1b5a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_23.obj
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_24.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b23e4e83fc080bf58df8c6589f6a2cdc35b8483d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_24.obj
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_25.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d995fdd009aa58ba2125a52257500af668f6de8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_25.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_26.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d37d6a2b7b5c8e85529423d2f2f023391b90b849
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_26.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_27.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3593cef30cf05c22f554073061ca2751d35f459
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_27.obj
@@ -0,0 +1,592 @@
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_28.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff25a2ac8e1dd411df86b23f6cf9e360bb34d8db
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_28.obj
@@ -0,0 +1,613 @@
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_29.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7546e5fc36a389fa825920b3982f88cb1ca61965
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_29.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_3.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ece99048d4f67d1a6c386b215bb15281848655b6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_3.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_30.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eea17d3b2754983a5e3059280690eadfd74cdb85
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_30.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_31.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..212b1f0bdd96021988b9dec357b316de2437f9a3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_31.obj
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_32.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54898704f2ae06763006b481be1a1a02b62d6596
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_32.obj
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_33.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9e94a6b219a8c2b42450371eff2aca7232f84e3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_33.obj
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_34.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a05671ca64c4c9e3a2b4d579ca94280bd0cda5e5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_34.obj
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_35.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b111cec01ff9edd7b300999c9c178825d5412bba
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_35.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_36.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db8c2fdd98303d4d0121c1dcba27cb6816b0f002
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_36.obj
@@ -0,0 +1,562 @@
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_37.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9efea3aa6048686313bad146d61b347c3c68c8de
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_37.obj
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_38.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3587ecbc690e3f24f85ab72d1e91aa6964946aaa
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_38.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_39.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d58556966fc8545cd9cf99d8c5f386bed994f42
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_39.obj
@@ -0,0 +1,1051 @@
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_4.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c96a357c7ad27274450908a914b60450ac2ccda6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_4.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_40.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18d034a0d897d441cb95b1ccd15beab5d526e180
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_40.obj
@@ -0,0 +1,547 @@
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_41.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b253346ed8948b8eef98b15b5f1f5334becbe1b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_41.obj
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_42.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea4e14a91c11ac8ebbff67b93650157f63ebff59
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_42.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_43.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dedab93707d5f24ea963913f2423ffa5033a56e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_43.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_44.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5859818990d92408207d7ca613e54824df4fc229
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_44.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_45.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6128da47367d22c6a31d33fc4027748e78b88ebb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_45.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_46.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16365b176e5aaa364cdc06972e7a643962820d06
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_46.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_47.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55b57f75bf9bd67109f3966a7307b199066b079b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_47.obj
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_48.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53ba6b6148054a0c464c8e1fc00f8dd5993eb397
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_48.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_49.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5123f4e9f317aeed474610bf1bc776c327283ae1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_49.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_5.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec7ec3ac7f0f5e850bae64ad880fed7d972d5e65
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_5.obj
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_50.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1c1078e750bd6dffeb7e9dca0618dac4501db68
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_50.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_6.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83b4acb3a39b0260681b2ec562ac56f09f15d246
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_6.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_7.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72d795506160d86014ae0af9ada2c994c9cf0624
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_7.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_8.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f20ea3ddfca5f3ef69b3ef01762095d2d7f9de17
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_8.obj
@@ -0,0 +1,547 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_9.obj b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52f9bedcee7dd89768a40c45dffe5d192b5a5f10
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/12f1372945c55c54a6c90cc6a99a1048/mjcf/mesh/teacup_collision_9.obj
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