diff --git a/.gitattributes b/.gitattributes
index 52251b7205730991347152f4dfbef541c84c76e1..ad8689775e0a9fd36de4d7a3e76781fb72912f2d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2934,3 +2934,5 @@ dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mini_sculp
 dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/a360cc1a3c4e58e3bfb24deb3f57c4a1.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mesh/thermos.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mesh/thermos_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mesh/mini_sculpture_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mini_sculpture_008.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mesh/material.mtl b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf97a3fcc547b47bd79774efcbf8e5e5b865d16c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mesh/material_0.png b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..78748567629bc521efbb079a10f5a7b3b29d16d0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mesh/mini_sculpture_008.glb b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mesh/mini_sculpture_008.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mesh/mini_sculpture_008.glb
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diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mesh/mini_sculpture_008.mtl b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mesh/mini_sculpture_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2bd197978d47cc3abfdc025bb8eb1ee7087ce15d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mesh/mini_sculpture_008.mtl
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+newmtl mini_sculpture_008_geometry_Looks_material_0
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+d 1.000000
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diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mesh/mini_sculpture_008.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mesh/mini_sculpture_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c431fd4baf85807aaaf8695130bda63155331879
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mesh/mini_sculpture_008.obj
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diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mesh/mini_sculpture_008_collision.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mesh/mini_sculpture_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c004ea3d169ce1a40bf656241f694adf41bc0d8b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mesh/mini_sculpture_008_collision.obj
@@ -0,0 +1,10656 @@
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diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mesh/mini_sculpture_008_geometry_Looks_material_0.png b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mesh/mini_sculpture_008_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..78748567629bc521efbb079a10f5a7b3b29d16d0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mesh/mini_sculpture_008_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c28dc58fe69ead0616528f2684d2b5610b1a93c0d23522c62599a46d55eea1e3
+size 14160910
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mini_sculpture_008.urdf b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mini_sculpture_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6dd8f3c518576dfcb82c74c5e8af816ac2de06cf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mini_sculpture_008.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mini_sculpture_008">
+   <link name="mini_sculpture_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mini_sculpture_008.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mini_sculpture_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>a241161abe5354bfbd2c0b5a40ab7936</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>decorations</super_category>
+         <category>mini_sculpture</category>
+         <name>arch bridge</name>
+         <color>black</color>
+         <shape>irregular</shape>
+         <material>metal</material>
+         <description>miniature black arch bridge with decorative base</description>
+         <min_height>0.0596</min_height>
+         <max_height>0.0596</max_height>
+         <real_height>0.0596</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420200040</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Main bridge and base are merged; olive is tiny inconsistent fragments, not a functional part.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mini_sculpture_008.usd b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mini_sculpture_008.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6fd3eba7c5acfa108fd83fb74f9adf2da380156f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mini_sculpture_008.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e94b017d48fea8b0a8a06f3458a3b1ccff3972fdc3f7d4297d2067b0d2dae8b
+size 4956165
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..78748567629bc521efbb079a10f5a7b3b29d16d0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c28dc58fe69ead0616528f2684d2b5610b1a93c0d23522c62599a46d55eea1e3
+size 14160910
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ceb4f404d80e2f7b338ccfeb5775d12d7f1e4de
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008.obj
@@ -0,0 +1,115890 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mini_sculpture_008_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a154d6da9793a2997159582b27b11c4f347af7a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision.obj
@@ -0,0 +1,10656 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_0.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8a3d4c3f6498eb6b3b5d240092666ab280f97e8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_1.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aff35dbe15cd3a9e7ad72dbf8443f88eb9ec53b0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_1.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_10.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fff335cb317681a74c566142e1c46e90a7744cf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_10.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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+f 17 18 22
+f 18 23 24
+f 18 24 25
+f 18 25 22
+f 20 26 21
+f 21 26 27
+f 21 27 28
+f 23 29 30
+f 23 30 31
+f 23 31 32
+f 23 32 33
+f 23 33 24
+f 27 34 28
+f 28 34 35
+f 28 35 36
+f 29 37 38
+f 29 38 39
+f 29 39 40
+f 29 40 41
+f 29 41 42
+f 29 42 43
+f 29 43 44
+f 29 44 45
+f 29 45 46
+f 29 46 30
+f 35 47 36
+f 36 47 48
+f 37 48 38
+f 38 48 49
+f 47 50 48
+f 48 50 49
+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_11.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e78e151c170aac0ceab343a1b90ba3e16e44680a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_11.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.04236909 0.00285336 -0.00118910
+v -0.04205843 0.00875787 -0.00118908
+v -0.04234356 -0.00043832 -0.00118911
+v -0.04332236 0.00875786 0.00292827
+v -0.04322448 0.00875786 0.00251082
+v -0.01889486 0.00875787 -0.00118908
+v -0.04244995 -0.00043832 -0.00037920
+v -0.01889061 -0.00043832 -0.00118911
+v -0.04269252 -0.00043833 0.00210049
+v -0.04270529 -0.00043833 0.00263032
+v -0.04332661 0.00875786 0.00389338
+v -0.01889061 0.00614865 -0.00118909
+v 0.00014497 0.00875784 0.00769496
+v 0.00014497 -0.00043835 0.00769672
+v -0.04270955 -0.00043833 0.00380415
+v -0.04328831 0.00875785 0.00452311
+v 0.00014497 0.00875781 0.01699823
+v 0.00014497 -0.00043838 0.01678056
+v -0.04292232 0.00875785 0.00559883
+v -0.04197757 -0.00043834 0.00463012
+v -0.00012740 0.00875781 0.01703569
+v -0.00012740 -0.00043838 0.01678234
+v -0.04113920 -0.00043834 0.00545073
+v -0.04251804 0.00875785 0.00587891
+v -0.00177008 0.00875781 0.01690725
+v -0.00346809 -0.00043838 0.01662892
+v -0.00179562 -0.00043838 0.01673953
+v -0.04182437 0.00875785 0.00614828
+v -0.01723941 -0.00043837 0.01353556
+v -0.00680453 0.00875781 0.01649337
+v -0.00513631 -0.00043838 0.01644874
+v -0.01640530 -0.00043837 0.01381386
+v -0.01664362 0.00875782 0.01422598
+v -0.00729393 0.00875781 0.01640596
+v -0.00847275 -0.00043838 0.01591178
+v -0.00680453 -0.00043838 0.01620613
+v -0.01515414 -0.00043837 0.01421346
+v -0.01348166 -0.00043837 0.01470762
+v -0.01189856 -0.00043838 0.01513576
+v -0.01106445 -0.00043838 0.01534984
+v -0.01143469 0.00875781 0.01554610
+v -0.00843019 0.00875781 0.01618475
+v -0.01014522 -0.00043838 0.01556034
+f 1 2 6
+f 1 6 12
+f 1 12 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 4
+f 2 4 11
+f 2 11 16
+f 2 16 19
+f 2 19 24
+f 2 24 28
+f 2 28 33
+f 2 33 41
+f 2 41 42
+f 2 42 34
+f 2 34 30
+f 2 30 25
+f 2 25 21
+f 2 21 17
+f 2 17 13
+f 2 13 6
+f 3 7 4
+f 3 8 14
+f 3 14 18
+f 3 18 22
+f 3 22 27
+f 3 27 26
+f 3 26 31
+f 3 31 36
+f 3 36 35
+f 3 35 43
+f 3 43 40
+f 3 40 39
+f 3 39 38
+f 3 38 37
+f 3 37 32
+f 3 32 29
+f 3 29 23
+f 3 23 20
+f 3 20 15
+f 3 15 10
+f 3 10 9
+f 3 9 7
+f 4 9 10
+f 4 10 11
+f 4 7 9
+f 6 13 12
+f 8 12 13
+f 8 13 14
+f 10 15 11
+f 11 15 16
+f 13 17 18
+f 13 18 14
+f 15 19 16
+f 15 20 19
+f 17 21 18
+f 18 21 22
+f 19 20 23
+f 19 23 24
+f 21 25 26
+f 21 26 27
+f 21 27 22
+f 23 28 24
+f 23 29 28
+f 25 30 26
+f 26 30 31
+f 28 29 32
+f 28 32 33
+f 30 34 35
+f 30 35 36
+f 30 36 31
+f 32 37 33
+f 33 37 38
+f 33 38 39
+f 33 39 40
+f 33 40 41
+f 34 42 35
+f 35 42 43
+f 40 43 41
+f 41 43 42
+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_12.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..702d1894200aa0bd14b866a1a3cba607e38e0277
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_12.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.02461207 0.00038049 -0.01033402
+v 0.01399521 0.00038044 0.00370771
+v 0.02461207 0.00120551 -0.01033402
+v 0.04082019 0.00038049 -0.01033402
+v 0.01399806 0.00449648 0.00370773
+v 0.04247170 0.00038044 0.00370771
+v 0.02461776 0.00876689 -0.01033399
+v 0.04226988 0.00614819 -0.01033400
+v 0.04214481 0.00038046 -0.00203463
+v 0.01400090 0.00614814 0.00370773
+v 0.04247738 0.00038044 0.00337502
+v 0.04303452 0.00876684 0.00292688
+v 0.04299472 0.00876684 0.00370774
+v 0.04201405 0.00876689 -0.01033399
+v 0.01400374 0.00779653 0.00370774
+v 0.01400658 0.00876684 0.00370774
+v 0.04245748 0.00038044 0.00194528
+v 0.04232957 0.00038045 -0.00038081
+v 0.04223861 0.00038045 -0.00120703
+v 0.04248307 0.00038044 0.00292685
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 19
+f 1 19 18
+f 1 18 17
+f 1 17 20
+f 1 20 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 13
+f 2 13 16
+f 2 16 15
+f 2 15 10
+f 2 10 5
+f 3 5 7
+f 4 8 9
+f 5 10 7
+f 6 11 12
+f 6 12 13
+f 7 10 15
+f 7 15 16
+f 7 16 13
+f 7 13 12
+f 7 12 14
+f 8 14 12
+f 8 12 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 11 20 12
+f 12 20 17
+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_13.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8869207926c263b834efb491537bc5c76114cb82
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_13.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.00014805 -0.00845994 0.01767024
+v 0.00014805 -0.00043928 0.01678025
+v 0.00012346 -0.00845994 0.01767409
+v 0.00014805 -0.00845991 0.00768899
+v -0.00012600 -0.00043928 0.01678282
+v -0.00012600 -0.00845994 0.01768948
+v 0.00014805 -0.00043925 0.00769671
+v -0.01181525 -0.00845990 0.00459702
+v -0.01181525 -0.00373905 0.00459063
+v -0.01181525 -0.00044317 0.00458807
+v 0.00014805 -0.00071404 0.00769543
+v -0.00179489 -0.00043928 0.01673922
+v -0.00184173 -0.00845994 0.01745479
+v -0.00346495 -0.00043928 0.01662893
+v -0.00513384 -0.00043928 0.01644938
+v -0.01181290 -0.00043924 0.00458936
+v -0.01181525 -0.00845994 0.01554908
+v -0.01181525 -0.00043924 0.00459448
+v -0.00680272 -0.00845994 0.01668917
+v -0.00680272 -0.00043928 0.01620700
+v -0.01161264 -0.00845994 0.01564526
+v -0.01181525 -0.00044321 0.01515668
+v -0.01181525 -0.00043927 0.01492456
+v -0.00847161 -0.00043928 0.01591076
+v -0.01014167 -0.00043928 0.01556065
+v -0.01152129 -0.00845994 0.01566578
+v -0.01106102 -0.00043928 0.01535033
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 19
+f 1 19 26
+f 1 26 21
+f 1 21 17
+f 1 17 8
+f 1 8 4
+f 1 4 11
+f 1 11 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 16
+f 2 16 18
+f 2 18 23
+f 2 23 27
+f 2 27 25
+f 2 25 24
+f 2 24 20
+f 2 20 15
+f 2 15 14
+f 2 14 12
+f 2 12 5
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 6
+f 6 12 14
+f 6 14 15
+f 6 15 13
+f 7 11 10
+f 7 10 16
+f 8 17 22
+f 8 22 23
+f 8 23 18
+f 8 18 10
+f 8 10 9
+f 10 18 16
+f 13 15 20
+f 13 20 19
+f 17 21 22
+f 19 20 24
+f 19 24 25
+f 19 25 26
+f 21 26 25
+f 21 25 27
+f 21 27 22
+f 22 27 23
+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_14.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afbc921e28449b225d934c7fd09ebc51f024d4f8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_14.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.04628652 0.00070203 -0.01583587
+v -0.04628652 0.00070203 -0.01483588
+v -0.04628652 0.01923955 -0.01583587
+v -0.04628652 0.01923955 -0.01483588
+v -0.02197138 0.00070203 -0.01583587
+v -0.02197138 0.00070203 -0.01483588
+v -0.02197138 0.01923955 -0.01583587
+v -0.02197138 0.01923955 -0.01483588
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_15.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ebab618b7979aa1d025e910b006563608965783
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_15.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.04628397 -0.01846993 -0.01583594
+v -0.04628397 -0.01846993 -0.01483594
+v -0.04628397 0.00070203 -0.01583594
+v -0.04628397 0.00070203 -0.01483594
+v -0.02196755 -0.01846993 -0.01583594
+v -0.02196755 -0.01846993 -0.01483594
+v -0.02196755 0.00070203 -0.01583594
+v -0.02196755 0.00070203 -0.01483594
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_16.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbed1c0e41cc3bdae14a8b59e1d698ce7c7a9566
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_16.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.01181525 -0.00845994 0.01555019
+v -0.01181525 -0.00044321 0.01515660
+v -0.01269622 -0.00845994 0.01552583
+v -0.01181525 -0.00845990 0.00459636
+v -0.01181525 -0.00043927 0.01492418
+v -0.01189653 -0.00043928 0.01513599
+v -0.01658108 -0.00845993 0.01447993
+v -0.02074386 -0.00845987 -0.00359091
+v -0.01181525 -0.00373905 0.00459075
+v -0.01181525 -0.00043924 0.00459451
+v -0.01348106 -0.00043927 0.01470863
+v -0.01797421 -0.00845993 0.01407131
+v -0.02074386 -0.00044314 -0.00359837
+v -0.01181525 -0.00209111 0.00458888
+v -0.02074386 -0.00845993 0.01271989
+v -0.01181525 -0.00044317 0.00458889
+v -0.02061364 -0.00043921 -0.00340719
+v -0.01515037 -0.00043927 0.01421192
+v -0.01640191 -0.00043927 0.01381268
+v -0.01723657 -0.00043927 0.01353527
+v -0.01848811 -0.00043927 0.01310042
+v -0.02015742 -0.00043927 0.01249687
+v -0.02074386 -0.00044320 0.01227757
+v -0.02074386 -0.00043921 -0.00324974
+v -0.02074386 -0.00043926 0.01139849
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 5 10 17
+f 5 17 24
+f 5 24 25
+f 5 25 22
+f 5 22 21
+f 5 21 20
+f 5 20 19
+f 5 19 18
+f 5 18 11
+f 5 11 6
+f 6 11 7
+f 7 11 12
+f 8 13 14
+f 8 14 9
+f 8 15 23
+f 8 23 25
+f 8 25 24
+f 8 24 13
+f 10 16 13
+f 10 13 17
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 15
+f 13 24 17
+f 13 16 14
+f 22 25 23
+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_17.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bfe1277a2ac5e265eb88d03f20a20d87a68c24f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_17.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.01046956 0.01273985 0.02729425
+v -0.01848805 0.01273985 0.02790697
+v -0.01046956 0.01242866 0.02728452
+v -0.01046956 0.01374960 0.02706731
+v -0.01848805 0.01109290 0.02760546
+v -0.01046956 0.01120863 0.02709972
+v -0.01848805 0.01398881 0.02732018
+v -0.01953452 0.01377995 0.02711918
+v -0.01973873 0.01273985 0.02732342
+v -0.01958088 0.01109290 0.02716132
+v -0.01046956 0.01418710 0.02609475
+v -0.01932368 0.01026802 0.02690521
+v -0.01848805 0.01017770 0.02701544
+v -0.01742724 0.01014806 0.02705434
+v -0.01046956 0.01056438 0.02672366
+v -0.01848805 0.01454626 0.02607530
+v -0.02174556 0.01444467 0.02111520
+v -0.02174556 0.01403964 0.02246707
+v -0.02174556 0.01394720 0.02277180
+v -0.02174556 0.01305951 0.02340722
+v -0.02174556 0.01273986 0.02352392
+v -0.02174556 0.01110845 0.02310247
+v -0.02174556 0.01105129 0.02307329
+v -0.01046956 0.01445101 0.02442193
+v -0.01848805 0.01484758 0.02442193
+v -0.01848805 0.00995613 0.02607529
+v -0.02174556 0.01019536 0.02227903
+v -0.02174556 0.01015867 0.02221743
+v -0.01848805 0.00967953 0.02442192
+v -0.01046956 0.01017346 0.02596506
+v -0.01046956 0.01041761 0.02654860
+v -0.01055346 0.01046701 0.02663938
+v -0.02174556 0.01570144 0.00954164
+v -0.01046956 0.01558782 0.01451471
+v -0.01848805 0.01501694 0.02276857
+v -0.02174556 0.00875873 0.01220969
+v -0.01848805 0.00953136 0.02276855
+v -0.01143213 0.00875871 0.01554560
+v -0.01046956 0.00875871 0.01558775
+v -0.01848805 0.01573390 0.01119825
+v -0.01848805 0.01594490 0.00458154
+v -0.02015820 0.01595197 0.00292817
+v -0.02174556 0.01595198 0.00127481
+v -0.01046956 0.01591666 0.00954164
+v -0.01181186 0.01574941 0.01284837
+v -0.01348091 0.01575929 0.01284837
+v -0.02174556 0.00875879 -0.00519929
+v -0.01698900 0.00875872 0.01410944
+v -0.01664018 0.00875872 0.01422615
+v -0.01046956 0.00875875 0.00530770
+v -0.01348091 0.01595760 0.00788827
+v -0.01515106 0.01596537 0.00623491
+v -0.01681900 0.01596466 0.00458154
+v -0.02015820 0.01596256 0.00127481
+v -0.02174556 0.01595339 -0.00037856
+v -0.01046956 0.01596536 0.00788827
+v -0.01181186 0.01596747 0.00788827
+v -0.02174556 0.01254239 -0.00520575
+v -0.01046956 0.01273993 0.00530772
+v -0.02174556 0.01589836 -0.00202544
+v -0.01046956 0.01562666 0.00619925
+v -0.02174556 0.01562105 -0.00368853
+v -0.02174556 0.01273997 -0.00520575
+v -0.01046956 0.01401288 0.00534662
+v -0.01046956 0.01545943 0.00581670
+v -0.02174556 0.01490908 -0.00473892
+v -0.02174556 0.01404186 -0.00510849
+v -0.01046956 0.01438758 0.00535959
+v -0.01046956 0.01498172 0.00545037
+v -0.01080955 0.01530066 0.00533042
+v -0.02174556 0.01438762 -0.00508256
+f 1 2 3
+f 1 3 6
+f 1 6 15
+f 1 15 31
+f 1 31 30
+f 1 30 39
+f 1 39 50
+f 1 50 59
+f 1 59 64
+f 1 64 68
+f 1 68 69
+f 1 69 65
+f 1 65 61
+f 1 61 56
+f 1 56 44
+f 1 44 34
+f 1 34 24
+f 1 24 11
+f 1 11 4
+f 1 4 2
+f 2 5 6
+f 2 6 3
+f 2 4 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 5
+f 4 11 7
+f 5 10 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 7 11 16
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 9 20 21
+f 9 21 22
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diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_18.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6078cb429f66c8b890ac218684a5b2280e45d40c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_18.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_19.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8831903bc12ddc99a085129a95f303e996fa347e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_19.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_2.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c1ba1ea704bcd702cd9fd3985b1c0352963467e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_2.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_20.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e018c9eefb3304218dd597397a6fd0133ffcdbb1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_20.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_21.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db34ed01dfb8185633aaff4727c783cd379f5f61
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_21.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_22.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2643276c7d2df5be41d5f360203ff372bae67c3f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_22.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_23.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b103c51e9d091f5aa9e1ac556e50afd7a12dcb0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_23.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.00014818 0.01433551 0.02039203
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+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_24.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0edbb91cc63a6ecdf4b964db378981b6a64f47e1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_24.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_25.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64d37c7df994b2f9f8db2421ca55388a8221740a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_25.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_26.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04c89b84809b4f8a1ddf9e20d4da0de23dc0c1ac
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_26.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_27.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b5658f94120e5c702f3af353e0c7c9589cf42ef
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_27.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_28.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ca4f46d0de3bbca7493bc81c1fc280936e1f1ed
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_28.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_29.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28a060c64323f2b3211f02f6f38a6f8b109f8ce4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_29.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.01162093 -0.01211167 0.01655629
+v 0.01162093 -0.01213493 0.01655032
+v 0.01162093 -0.01036357 0.01640260
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+v 0.01162093 -0.01377026 0.01583558
+v 0.01162093 -0.00799024 0.01553270
+v 0.00801075 -0.01040023 0.02028962
+v 0.00815112 -0.01118618 0.02028962
+v 0.00766153 -0.01296529 0.02028961
+v 0.01162093 -0.01384004 0.01579529
+v 0.01162093 -0.01379422 0.01582364
+v 0.00895176 -0.00799024 0.01618476
+v 0.00655209 -0.00971509 0.02028962
+v 0.01162093 -0.00799020 0.00504746
+v 0.00710905 -0.01304565 0.02028961
+v 0.01117401 -0.01454774 0.01542674
+v 0.01162093 -0.01449699 0.01536407
+v 0.00822635 -0.00799024 0.01633099
+v 0.00014922 -0.00917233 0.02028963
+v 0.01162093 -0.00868239 0.00504746
+v 0.00014922 -0.01197772 0.00768555
+v 0.00014922 -0.00868240 0.00768854
+v 0.00014922 -0.00799021 0.00769003
+v 0.00655209 -0.01310979 0.02028961
+v 0.00989051 -0.01464219 0.01554909
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+v 0.01162093 -0.01197771 0.00505043
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+v 0.01162093 -0.01480146 0.00587110
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+v 0.00822074 -0.01518846 0.00954174
+v 0.00321366 -0.01519128 0.00954174
+v 0.00989051 -0.01517012 0.00788846
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+f 1 17 26
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+f 1 52 57
+f 1 57 56
+f 1 56 50
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+f 1 31 20
+f 1 20 14
+f 1 14 6
+f 1 6 3
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+f 1 4 2
+f 2 4 5
+f 3 6 7
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+f 4 7 13
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+f 4 19 28
+f 4 28 24
+f 4 24 15
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+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_3.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37f96480fefc50549b606cab12a27baa774f92ca
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_3.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.02476325 -0.01199792 -0.01498831
+v 0.02478731 -0.01355316 -0.01498832
+v 0.02518161 -0.01237253 -0.01395713
+v 0.02517605 -0.01197786 -0.01395712
+v 0.02476325 0.01273879 -0.01498822
+v 0.02478917 -0.01362340 -0.01498832
+v 0.02521678 -0.01362341 -0.01395713
+v 0.02517605 0.01273878 -0.01395703
+v 0.02479102 0.01438768 -0.01498822
+v 0.02479287 -0.01364347 -0.01498832
+v 0.02528712 -0.01396790 -0.01395713
+v 0.02521863 0.01438767 -0.01395703
+v 0.02509460 0.01586265 -0.01498821
+v 0.02507054 -0.01498800 -0.01498833
+v 0.02509460 -0.01510172 -0.01498833
+v 0.02545743 -0.01475389 -0.01395713
+v 0.02546113 0.01551480 -0.01395702
+v 0.02658662 0.01592284 -0.01395702
+v 0.02658662 0.01638775 -0.01498821
+v 0.02520937 -0.01514520 -0.01498833
+v 0.02623861 -0.01505490 -0.01395714
+v 0.02825450 0.01609342 -0.01395702
+v 0.03660129 0.01744799 -0.01498821
+v 0.02650887 -0.01560341 -0.01498833
+v 0.02658662 -0.01515859 -0.01395714
+v 0.03660129 0.01649477 -0.01395702
+v 0.03826917 0.01653156 -0.01395702
+v 0.03826917 0.01747141 -0.01498821
+v 0.02658662 -0.01561344 -0.01498833
+v 0.02782318 -0.01529571 -0.01395714
+v 0.03890966 0.01652822 -0.01395702
+v 0.03952239 0.01745803 -0.01498821
+v 0.03660129 -0.01668371 -0.01498833
+v 0.02825450 -0.01532581 -0.01395714
+v 0.03993890 0.01651484 -0.01395702
+v 0.03993890 0.01745134 -0.01498821
+v 0.03702891 -0.01669041 -0.01498833
+v 0.03826917 -0.01577065 -0.01395714
+v 0.03763237 -0.01576061 -0.01395714
+v 0.03660129 -0.01573720 -0.01395714
+v 0.04051645 0.01643791 -0.01395702
+v 0.04101256 0.01736103 -0.01498821
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+v 0.04292294 0.01273878 -0.01395703
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+f 69 71 73
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+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_30.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d3c0b0ae27d12127bd01db2b574b5cdaf2996cb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_30.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.02212064 0.00876685 0.00098971
+v 0.02212064 0.01595232 0.00098974
+v 0.02837221 0.00876685 0.00098971
+v 0.02212064 0.00876681 0.01210930
+v 0.02324661 0.01589465 0.00098974
+v 0.02212064 0.01567587 0.00954121
+v 0.02324661 0.01569697 0.00954121
+v 0.02658473 0.01570260 0.00788707
+v 0.02837221 0.01564000 0.00777039
+v 0.02837221 0.01409476 0.00098973
+v 0.02837221 0.00876682 0.00947920
+v 0.02410393 0.00876681 0.01151376
+v 0.02486274 0.01059271 0.01340613
+v 0.02212064 0.00995547 0.01289202
+v 0.02359052 0.01584049 0.00098974
+v 0.02837221 0.01551834 0.00610652
+v 0.02212064 0.01554434 0.01074445
+v 0.02491598 0.01558935 0.00954121
+v 0.02825410 0.01563719 0.00788707
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+v 0.02466386 0.01552679 0.00098974
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+v 0.02671446 0.01279351 0.01340614
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+v 0.02491598 0.01387949 0.01340614
+v 0.02354034 0.01388230 0.01340614
+v 0.02212064 0.01436832 0.01285435
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+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_31.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd491bb5d7e6f7ad31c8af8952a09173f8c68f6b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_31.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.00014922 -0.00916669 0.01947804
+v -0.00012580 -0.00912450 0.01947804
+v 0.00014922 -0.01357655 0.01947802
+v 0.00014922 -0.00845994 0.01766974
+v -0.00680251 -0.00986090 0.01947803
+v 0.00012350 -0.00845994 0.01767519
+v -0.00012580 -0.00845994 0.01768883
+v -0.00184123 -0.00845994 0.01745427
+v -0.00680251 -0.00845994 0.01668922
+v -0.00010997 -0.01364445 0.01947802
+v 0.00014922 -0.01472763 0.01608234
+v 0.00014922 -0.00845991 0.00768999
+v -0.00681438 -0.00986749 0.01947803
+v -0.00841011 -0.00845994 0.01631829
+v -0.00995735 -0.00845994 0.01576052
+v -0.00012580 -0.01364841 0.01947802
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+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_32.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..191027d347f693172ba35058036d913eeaba142e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_32.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_33.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7ebf8b2d69b19dbf041563f6f93fd62a197259f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_33.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_34.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0445c648db5ea42885aa687c47e1fb946c6f60ef
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_34.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+f 19 34 35
+f 19 35 36
+f 19 36 20
+f 20 36 35
+f 20 35 21
+f 21 37 29
+f 21 29 22
+f 21 35 37
+f 23 33 32
+f 23 32 31
+f 23 31 30
+f 23 30 47
+f 23 47 37
+f 23 37 52
+f 23 52 51
+f 23 51 60
+f 23 60 61
+f 23 61 53
+f 23 53 40
+f 23 40 25
+f 23 25 24
+f 25 38 39
+f 25 39 26
+f 25 40 41
+f 25 41 42
+f 25 42 38
+f 26 39 27
+f 27 38 28
+f 27 39 38
+f 28 43 44
+f 28 44 45
+f 28 45 46
+f 28 38 43
+f 29 47 30
+f 29 37 47
+f 34 48 49
+f 34 49 35
+f 34 50 48
+f 35 49 51
+f 35 51 52
+f 35 52 37
+f 38 42 43
+f 40 53 62
+f 40 62 59
+f 40 59 65
+f 40 65 58
+f 40 58 67
+f 40 67 63
+f 40 63 54
+f 40 54 45
+f 40 45 44
+f 40 44 43
+f 40 43 42
+f 40 42 41
+f 45 54 46
+f 46 54 55
+f 48 56 49
+f 48 50 56
+f 49 56 51
+f 50 57 58
+f 50 58 56
+f 51 56 59
+f 51 59 60
+f 53 61 62
+f 54 63 64
+f 54 64 55
+f 56 58 65
+f 56 65 59
+f 57 66 58
+f 58 66 68
+f 58 68 67
+f 59 62 61
+f 59 61 60
+f 63 67 68
+f 63 68 64
+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_35.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72965a7ed46848478c6e75000df23c52d6dc633a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_35.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.02074496 -0.01003000 0.01345780
+v -0.02074496 -0.01243716 0.01345779
+v -0.02074496 -0.00918586 0.01312709
+v -0.02360658 -0.00987681 0.01345780
+v -0.02200840 -0.01334752 0.01345779
+v -0.02074496 -0.01364194 0.01298500
+v -0.02074496 -0.00705956 0.01229098
+v -0.03191908 -0.00957363 0.01345780
+v -0.03184360 -0.01333955 0.01345779
+v -0.02074496 -0.01453873 0.01214889
+v -0.02118908 -0.00705955 0.01212096
+v -0.02074496 -0.00705950 -0.00359059
+v -0.03191908 -0.01333636 0.01345779
+v -0.03191908 -0.00705954 0.00792407
+v -0.03189064 -0.01333795 0.01345779
+v -0.02074496 -0.01463128 0.01187872
+v -0.02074496 -0.01197753 -0.00360457
+v -0.02395772 -0.00705947 -0.01033542
+v -0.02074496 -0.01479165 0.01120331
+v -0.03191908 -0.01464403 0.00730919
+v -0.02349719 -0.01465681 0.01070955
+v -0.03191908 -0.00705947 -0.01033542
+v -0.02074496 -0.01332034 -0.00352540
+v -0.02395553 -0.01197750 -0.01033543
+v -0.02395553 -0.01192644 -0.01033543
+v -0.02349719 -0.01490335 0.00954039
+v -0.02074496 -0.01488340 0.01061406
+v -0.03191908 -0.01486902 0.00615865
+v -0.03191908 -0.01370647 -0.01033544
+v -0.02074496 -0.01362512 -0.00350444
+v -0.02400585 -0.01362509 -0.01033544
+v -0.02683576 -0.01492010 0.00788679
+v -0.02182791 -0.01493128 0.00954039
+v -0.02074496 -0.01516981 0.00234604
+v -0.03017432 -0.01490094 0.00623318
+v -0.02997414 -0.01484503 -0.01033544
+v -0.02854332 -0.01520087 -0.01033545
+v -0.02850504 -0.01520965 -0.01030052
+v -0.02683576 -0.01518095 -0.00533971
+v -0.02516647 -0.01519372 -0.00368611
+v -0.02182791 -0.01517219 0.00127470
+v -0.02074496 -0.01431926 -0.00322495
+v -0.02419619 -0.01459210 -0.01033544
+v -0.02074496 -0.01517937 0.00127470
+v -0.02850504 -0.01520885 -0.01033545
+v -0.02683576 -0.01519928 -0.01033545
+v -0.02516647 -0.01520647 -0.00699331
+v -0.02349719 -0.01519691 -0.00368611
+v -0.02074496 -0.01518256 0.00069477
+v -0.02074496 -0.01463681 -0.00307124
+v -0.02421151 -0.01460088 -0.01033544
+v -0.02074496 -0.01479639 -0.00254255
+v -0.02520148 -0.01498705 -0.01033545
+v -0.02516647 -0.01515541 -0.00864692
+v -0.02074496 -0.01510836 -0.00095883
+v -0.02516538 -0.01497747 -0.01033545
+f 1 2 6
+f 1 6 10
+f 1 10 16
+f 1 16 19
+f 1 19 27
+f 1 27 34
+f 1 34 44
+f 1 44 49
+f 1 49 55
+f 1 55 52
+f 1 52 50
+f 1 50 42
+f 1 42 30
+f 1 30 23
+f 1 23 17
+f 1 17 12
+f 1 12 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 7 11 8
+f 7 12 18
+f 7 18 22
+f 7 22 14
+f 7 14 11
+f 8 11 14
+f 8 14 22
+f 8 22 29
+f 8 29 28
+f 8 28 20
+f 8 20 13
+f 9 15 10
+f 10 15 13
+f 10 13 16
+f 12 17 18
+f 13 19 16
+f 13 20 21
+f 13 21 19
+f 17 23 24
+f 17 24 25
+f 17 25 18
+f 18 25 24
+f 18 24 31
+f 18 31 43
+f 18 43 51
+f 18 51 56
+f 18 56 53
+f 18 53 46
+f 18 46 45
+f 18 45 37
+f 18 37 36
+f 18 36 29
+f 18 29 22
+f 19 21 20
+f 19 20 26
+f 19 26 27
+f 20 28 26
+f 23 30 31
+f 23 31 24
+f 26 28 32
+f 26 32 33
+f 26 33 27
+f 27 33 34
+f 28 35 32
+f 28 29 36
+f 28 36 37
+f 28 37 38
+f 28 38 39
+f 28 39 40
+f 28 40 41
+f 28 41 34
+f 28 34 35
+f 30 42 31
+f 31 42 43
+f 32 35 34
+f 32 34 33
+f 34 41 44
+f 37 45 38
+f 38 45 46
+f 38 46 47
+f 38 47 40
+f 38 40 39
+f 40 47 48
+f 40 48 49
+f 40 49 44
+f 40 44 41
+f 42 50 43
+f 43 50 52
+f 43 52 51
+f 46 53 54
+f 46 54 47
+f 47 54 49
+f 47 49 48
+f 49 54 55
+f 51 52 56
+f 52 55 56
+f 53 56 55
+f 53 55 54
+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_36.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3c5ba1818b67e9e733b6ba438798b12eed7c29d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_36.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.02074496 -0.01197771 0.02471424
+v -0.02074496 -0.01203193 0.02468559
+v -0.02074496 -0.01040354 0.02432525
+v -0.03191908 -0.01033030 0.01855984
+v -0.03191908 -0.01107638 0.01868326
+v -0.03191908 -0.01197769 0.01877913
+v -0.03139401 -0.01294898 0.01876700
+v -0.02074496 -0.01304353 0.02393845
+v -0.02074496 -0.00992624 0.02376986
+v -0.03106803 -0.00949062 0.01865572
+v -0.03191908 -0.01008748 0.01847389
+v -0.03191908 -0.01324833 0.01792400
+v -0.02074496 -0.01326735 0.02375663
+v -0.02074496 -0.00964820 0.02342055
+v -0.03191908 -0.00937014 0.01773779
+v -0.02074496 -0.00923623 0.02259079
+v -0.03191908 -0.01325158 0.01791409
+v -0.02074496 -0.01374603 0.02218966
+v -0.03017432 -0.01356808 0.01781050
+v -0.03017432 -0.00926912 0.01781052
+v -0.03191908 -0.00919265 0.01615649
+v -0.02074496 -0.00911992 0.02111638
+v -0.03191908 -0.01370292 0.01615647
+v -0.02074496 -0.01385354 0.02111636
+v -0.03184360 -0.00919265 0.01615649
+v -0.03191908 -0.00934973 0.01464462
+v -0.02074496 -0.01003000 0.01345780
+v -0.02360658 -0.00987615 0.01345780
+v -0.03017432 -0.00922462 0.01615649
+v -0.03191908 -0.01369967 0.01608154
+v -0.03184360 -0.01370292 0.01615647
+v -0.02074496 -0.01382064 0.02053563
+v -0.03191908 -0.00937429 0.01440990
+v -0.02074496 -0.01243690 0.01345779
+v -0.03191908 -0.00957309 0.01345780
+v -0.03017432 -0.00937754 0.01487382
+v -0.03191908 -0.01354118 0.01450244
+v -0.02200840 -0.01334748 0.01345779
+v -0.02074496 -0.01362785 0.01946233
+v -0.03191908 -0.01333682 0.01345779
+v -0.03184360 -0.01333960 0.01345779
+f 1 2 8
+f 1 8 13
+f 1 13 18
+f 1 18 24
+f 1 24 32
+f 1 32 39
+f 1 39 34
+f 1 34 27
+f 1 27 22
+f 1 22 16
+f 1 16 14
+f 1 14 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 15
+f 4 15 21
+f 4 21 26
+f 4 26 33
+f 4 33 35
+f 4 35 40
+f 4 40 37
+f 4 37 30
+f 4 30 23
+f 4 23 17
+f 4 17 12
+f 4 12 6
+f 4 6 5
+f 6 12 7
+f 7 12 13
+f 7 13 8
+f 9 14 10
+f 10 15 11
+f 10 14 16
+f 10 16 15
+f 12 17 13
+f 13 17 19
+f 13 19 18
+f 15 16 20
+f 15 20 21
+f 16 22 21
+f 16 21 20
+f 17 23 19
+f 18 19 23
+f 18 23 24
+f 21 22 25
+f 21 25 26
+f 22 27 28
+f 22 28 29
+f 22 29 25
+f 23 30 31
+f 23 31 24
+f 24 31 30
+f 24 30 32
+f 25 29 33
+f 25 33 26
+f 27 34 38
+f 27 38 41
+f 27 41 40
+f 27 40 35
+f 27 35 28
+f 28 35 33
+f 28 33 36
+f 28 36 29
+f 29 36 33
+f 30 37 38
+f 30 38 32
+f 32 38 39
+f 34 39 38
+f 37 40 41
+f 37 41 38
+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_37.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df448ebd4ab407b8999d387540e74c12e136976a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_37.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.02174667 0.01594802 0.00097893
+v -0.02181349 0.01595225 0.00097893
+v -0.02174667 0.00875877 0.00097890
+v -0.02174667 0.01595366 -0.00038011
+v -0.02182811 0.01595296 0.00097893
+v -0.02182811 0.01595860 -0.00038011
+v -0.03241242 0.00875877 0.00097890
+v -0.02174667 0.00875879 -0.00519936
+v -0.02174667 0.01589861 -0.00202935
+v -0.02182811 0.01591767 -0.00203378
+v -0.02358538 0.01572565 0.00097893
+v -0.02516723 0.01595861 -0.00368744
+v -0.02349767 0.01594308 -0.00038011
+v -0.02516723 0.01597064 -0.00699367
+v -0.03241242 0.01424601 0.00097892
+v -0.03241242 0.00875881 -0.01033536
+v -0.02395917 0.00875881 -0.01033536
+v -0.02174667 0.01273956 -0.00520821
+v -0.02174667 0.01562118 -0.00369077
+v -0.02516514 0.01573981 -0.01033533
+v -0.02516723 0.01574475 -0.01030100
+v -0.02516723 0.01591487 -0.00864733
+v -0.02516723 0.01591414 -0.00203378
+v -0.02847085 0.01596782 -0.01033533
+v -0.02850426 0.01596712 -0.01030100
+v -0.02683679 0.01594662 -0.00534000
+v -0.02683679 0.01595794 -0.01033533
+v -0.02850426 0.01589793 -0.00864733
+v -0.02995977 0.01560427 -0.01030100
+v -0.02996708 0.01560356 -0.01033533
+v -0.03241242 0.01440206 -0.01033534
+v -0.02395813 0.01273958 -0.01033534
+v -0.02395917 0.01279465 -0.01033534
+v -0.02400512 0.01438794 -0.01033534
+v -0.02174667 0.01438792 -0.00508305
+v -0.02174667 0.01490890 -0.00474079
+v -0.02258197 0.01529999 -0.00634461
+v -0.02419306 0.01535719 -0.01033533
+v -0.02850426 0.01596712 -0.01033533
+v -0.02400720 0.01441971 -0.01033534
+f 1 2 5
+f 1 5 11
+f 1 11 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 35
+f 1 35 36
+f 1 36 19
+f 1 19 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 16
+f 3 16 17
+f 3 17 8
+f 4 9 10
+f 4 10 6
+f 5 6 12
+f 5 12 13
+f 5 13 11
+f 6 10 14
+f 6 14 12
+f 7 15 31
+f 7 31 16
+f 8 17 18
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 10 21 22
+f 10 22 14
+f 11 13 23
+f 11 23 15
+f 12 14 24
+f 12 24 25
+f 12 25 26
+f 12 26 13
+f 13 26 23
+f 14 22 27
+f 14 27 24
+f 15 23 26
+f 15 26 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 16 31 30
+f 16 30 39
+f 16 39 24
+f 16 24 27
+f 16 27 20
+f 16 20 38
+f 16 38 40
+f 16 40 34
+f 16 34 33
+f 16 33 32
+f 16 32 17
+f 17 32 18
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 19 36 37
+f 19 37 38
+f 19 38 20
+f 20 27 21
+f 21 27 22
+f 24 39 25
+f 25 39 30
+f 25 30 29
+f 25 29 28
+f 25 28 26
+f 34 40 35
+f 35 40 38
+f 35 38 36
+f 36 38 37
+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_38.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d2463fd58c890d3cacbad9c16fb39b1aad43f9f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_38.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.03214662 0.01274012 0.01860282
+v 0.03214662 0.01258977 0.01858837
+v 0.03214662 0.01401862 0.01782500
+v 0.03116326 0.01372719 0.01877861
+v 0.02212064 0.01274010 0.02570671
+v 0.03214662 0.01143889 0.01835477
+v 0.02212064 0.01401906 0.02377903
+v 0.03214662 0.01415553 0.01739877
+v 0.02212064 0.01114512 0.02455322
+v 0.03214662 0.01097993 0.01825724
+v 0.02212064 0.01446875 0.02223062
+v 0.03214662 0.01446459 0.01615619
+v 0.02212064 0.01112377 0.02452432
+v 0.03072948 0.01028291 0.01861003
+v 0.03214662 0.01013813 0.01743127
+v 0.02212064 0.01461679 0.02111567
+v 0.03214662 0.01444186 0.01560834
+v 0.02212064 0.01462700 0.02057746
+v 0.02212064 0.01052838 0.02346717
+v 0.02212064 0.01002720 0.02255450
+v 0.03214662 0.01000541 0.01615618
+v 0.03214662 0.01431703 0.01450303
+v 0.02354073 0.01388267 0.01340734
+v 0.02212064 0.01448129 0.01946371
+v 0.02212064 0.00988659 0.02115178
+v 0.03159311 0.01000773 0.01615618
+v 0.03214662 0.01012932 0.01456442
+v 0.03214662 0.01403488 0.01340734
+v 0.03195721 0.01403859 0.01340734
+v 0.03159311 0.01404555 0.01340734
+v 0.02293422 0.01274014 0.01340734
+v 0.02212064 0.01400562 0.01781898
+v 0.02212064 0.01434068 0.01893995
+v 0.02212064 0.01000076 0.01946370
+v 0.03159311 0.01013860 0.01467399
+v 0.02486365 0.01059292 0.01340733
+v 0.03214662 0.01029499 0.01377336
+v 0.03214662 0.01038131 0.01340733
+v 0.02212064 0.01274013 0.01736505
+v 0.02212064 0.01348960 0.01762874
+v 0.02329930 0.01111453 0.01340733
+v 0.02212064 0.01018360 0.01810794
+v 0.02212064 0.01107647 0.01754445
+v 0.02358783 0.01097438 0.01340733
+f 1 2 6
+f 1 6 10
+f 1 10 15
+f 1 15 21
+f 1 21 27
+f 1 27 37
+f 1 37 38
+f 1 38 28
+f 1 28 22
+f 1 22 17
+f 1 17 12
+f 1 12 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 5
+f 3 5 4
+f 3 8 7
+f 5 7 11
+f 5 11 16
+f 5 16 18
+f 5 18 24
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+f 5 39 43
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+f 5 42 34
+f 5 34 25
+f 5 25 20
+f 5 20 19
+f 5 19 13
+f 5 13 9
+f 5 9 10
+f 5 10 6
+f 7 8 11
+f 8 12 11
+f 9 13 14
+f 9 14 10
+f 10 14 15
+f 11 12 16
+f 12 17 18
+f 12 18 16
+f 13 19 14
+f 14 19 20
+f 14 20 15
+f 15 20 21
+f 17 22 23
+f 17 23 18
+f 18 23 24
+f 20 25 21
+f 21 26 27
+f 21 25 26
+f 22 28 29
+f 22 29 30
+f 22 30 23
+f 23 30 29
+f 23 29 28
+f 23 28 38
+f 23 38 36
+f 23 36 44
+f 23 44 41
+f 23 41 31
+f 23 31 32
+f 23 32 33
+f 23 33 24
+f 25 34 26
+f 26 34 27
+f 27 35 36
+f 27 36 37
+f 27 34 35
+f 31 39 40
+f 31 40 32
+f 31 41 42
+f 31 42 43
+f 31 43 39
+f 34 42 36
+f 34 36 35
+f 36 38 37
+f 36 42 44
+f 41 44 42
+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_39.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ea063b42bfe8728a2746ba639336f2236a258e9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_39.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.02212064 0.01273982 0.02570671
+v 0.02203857 0.01273981 0.02607693
+v 0.02212064 0.01114504 0.02455427
+v 0.02212064 0.01401897 0.02377884
+v 0.02104856 0.01384290 0.02716954
+v 0.02130401 0.01273981 0.02737723
+v 0.02113269 0.01109243 0.02722935
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+v 0.01990672 0.01014018 0.02705891
+v 0.01990672 0.00987071 0.02607692
+v 0.02095828 0.01011280 0.02607692
+v 0.02212064 0.00988630 0.02115340
+v 0.02121066 0.00997647 0.02442333
+v 0.01990672 0.00963239 0.02442333
+v 0.02157588 0.01473988 0.02111730
+v 0.02212064 0.01462662 0.02057889
+v 0.01990672 0.01500988 0.02276977
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+v 0.01163992 0.01059215 0.02659501
+v 0.01163992 0.01016703 0.02576652
+v 0.01990672 0.00952666 0.02276974
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+v 0.02212064 0.01000065 0.01946370
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+v 0.02212064 0.01434053 0.01893998
+v 0.02127837 0.01398894 0.01641275
+v 0.01163992 0.01132168 0.01641274
+v 0.01990672 0.01003662 0.01641274
+v 0.02013037 0.01005648 0.01641274
+v 0.02153177 0.01109247 0.01641274
+v 0.02212064 0.01107637 0.01754486
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+v 0.02212064 0.01400557 0.01781802
+v 0.02140660 0.01371733 0.01641275
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+v 0.02182518 0.01273985 0.01641275
+v 0.02212064 0.01273985 0.01736427
+v 0.02212064 0.01348920 0.01762840
+f 1 2 3
+f 1 3 9
+f 1 9 18
+f 1 18 17
+f 1 17 33
+f 1 33 47
+f 1 47 54
+f 1 54 63
+f 1 63 69
+f 1 69 70
+f 1 70 65
+f 1 65 57
+f 1 57 49
+f 1 49 37
+f 1 37 19
+f 1 19 10
+f 1 10 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 4 5
+f 3 8 9
+f 4 10 11
+f 4 11 5
+f 5 12 13
+f 5 13 6
+f 5 11 14
+f 5 14 12
+f 6 13 7
+f 7 13 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 10 19 20
+f 10 20 14
+f 10 14 11
+f 12 14 21
+f 12 21 22
+f 12 22 13
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+f 13 23 24
+f 13 24 25
+f 13 25 15
+f 14 26 27
+f 14 27 21
+f 14 20 28
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+f 15 30 16
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+f 17 32 34
+f 17 34 35
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+f 19 36 20
+f 19 37 36
+f 20 36 38
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+f 21 27 26
+f 21 26 28
+f 21 28 42
+f 21 42 51
+f 21 51 59
+f 21 59 55
+f 21 55 48
+f 21 48 44
+f 21 44 43
+f 21 43 39
+f 21 39 25
+f 21 25 24
+f 21 24 23
+f 21 23 22
+f 25 39 29
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+f 28 40 41
+f 28 41 42
+f 29 39 43
+f 29 43 44
+f 29 44 31
+f 29 31 30
+f 31 44 35
+f 31 35 32
+f 32 35 34
+f 33 35 45
+f 33 45 46
+f 33 46 47
+f 35 48 45
+f 35 44 48
+f 36 37 40
+f 36 40 38
+f 37 49 50
+f 37 50 40
+f 40 50 41
+f 41 50 58
+f 41 58 66
+f 41 66 68
+f 41 68 67
+f 41 67 62
+f 41 62 53
+f 41 53 61
+f 41 61 60
+f 41 60 56
+f 41 56 64
+f 41 64 59
+f 41 59 51
+f 41 51 42
+f 45 48 52
+f 45 52 46
+f 46 52 47
+f 47 53 54
+f 47 52 53
+f 48 55 56
+f 48 56 52
+f 49 57 58
+f 49 58 50
+f 52 56 60
+f 52 60 61
+f 52 61 53
+f 53 62 54
+f 54 62 63
+f 55 59 64
+f 55 64 56
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+f 58 65 66
+f 62 67 63
+f 63 67 68
+f 63 68 69
+f 65 70 68
+f 65 68 66
+f 68 70 69
+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_4.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..601615e6a3ca1d94a86cf829e59345aabeb36bcf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_4.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.01889430 0.00875787 -0.00118908
+v -0.01889200 0.00733892 -0.00118908
+v -0.02395713 0.00779634 -0.01033447
+v -0.02395943 0.00875791 -0.01033447
+v -0.04206072 0.00875787 -0.00118908
+v -0.01888739 0.00239148 -0.00118910
+v -0.02395022 0.00285340 -0.01033449
+v -0.02395252 0.00455057 -0.01033448
+v -0.02395483 0.00619911 -0.01033448
+v -0.04220359 0.00875791 -0.01033447
+v -0.04218285 0.00875788 -0.00272181
+v -0.04241560 0.00450012 -0.00203424
+v -0.04236951 0.00285336 -0.00118910
+v -0.01888969 -0.00043832 -0.00118911
+v -0.02395252 -0.00043828 -0.01033450
+v -0.04234186 0.00614869 -0.01033448
+v -0.04242942 0.00614867 -0.00534144
+v -0.04220590 0.00875790 -0.00933532
+v -0.04221050 0.00875789 -0.00437541
+v -0.04237412 0.00614866 -0.00368784
+v -0.04240638 0.00285337 -0.00203425
+v -0.04234646 -0.00043832 -0.00118911
+v -0.04090620 -0.00043828 -0.01033450
+v -0.04223816 -0.00043831 -0.00203426
+v -0.04221050 0.00875789 -0.00602812
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 18
+f 1 18 25
+f 1 25 19
+f 1 19 11
+f 1 11 5
+f 1 5 13
+f 1 13 22
+f 1 22 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 8
+f 3 8 7
+f 3 7 15
+f 3 15 23
+f 3 23 16
+f 3 16 10
+f 3 10 4
+f 5 11 12
+f 5 12 13
+f 6 14 15
+f 6 15 7
+f 10 16 17
+f 10 17 18
+f 11 19 17
+f 11 17 20
+f 11 20 12
+f 12 20 17
+f 12 17 21
+f 12 21 13
+f 13 21 22
+f 14 22 24
+f 14 24 23
+f 14 23 15
+f 16 24 22
+f 16 22 17
+f 16 23 24
+f 17 19 25
+f 17 25 18
+f 17 22 21
+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_40.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b07b49190e3d2b358baccfda089fd96742a7d93
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_40.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.03230409 -0.01197810 0.01853875
+v 0.03230409 -0.01324880 0.01778500
+v 0.03230409 -0.01033027 0.01824710
+v 0.02208433 -0.01197812 0.02578815
+v 0.02208433 -0.01302681 0.02388818
+v 0.02208433 -0.01351168 0.02274436
+v 0.03230409 -0.01370068 0.01615628
+v 0.03230409 -0.01007855 0.01807306
+v 0.02208433 -0.01035166 0.02475836
+v 0.02208433 -0.01114724 0.02528886
+v 0.02208433 -0.01385443 0.02111564
+v 0.03159283 -0.01370068 0.01615628
+v 0.03230409 -0.01356227 0.01450236
+v 0.03077053 -0.00950311 0.01864078
+v 0.03230409 -0.00938420 0.01752216
+v 0.02208433 -0.00924443 0.02260635
+v 0.02208433 -0.01371555 0.01946412
+v 0.02397402 -0.01313592 0.01352657
+v 0.03230409 -0.01335931 0.01355298
+v 0.03230409 -0.00931547 0.01700607
+v 0.02208433 -0.00920681 0.02241911
+v 0.02208433 -0.01324322 0.01781740
+v 0.02358988 -0.01308669 0.01352657
+v 0.03227708 -0.01335188 0.01352657
+v 0.03230409 -0.01335142 0.01352657
+v 0.03230409 -0.00923233 0.01615630
+v 0.02208433 -0.00911485 0.02115527
+v 0.02208433 -0.01197809 0.01729891
+v 0.02300067 -0.01197808 0.01352658
+v 0.02340181 -0.01273697 0.01352657
+v 0.03230409 -0.00969072 0.01352658
+v 0.03159283 -0.00923605 0.01615630
+v 0.02208433 -0.00911021 0.02061276
+v 0.03230409 -0.00928389 0.01530774
+v 0.02208433 -0.01031772 0.01754136
+v 0.02302067 -0.01177883 0.01352658
+v 0.03230409 -0.00951702 0.01371383
+v 0.03159283 -0.00962245 0.01352658
+v 0.02208433 -0.00926857 0.01912448
+v 0.03230409 -0.00935540 0.01450358
+v 0.02208433 -0.00968378 0.01781621
+v 0.02332378 -0.01037530 0.01352658
+v 0.03230409 -0.00948637 0.01385305
+v 0.02491237 -0.00985142 0.01352658
+v 0.02208433 -0.00941580 0.01809228
+v 0.03159283 -0.00937119 0.01464041
+f 1 2 7
+f 1 7 13
+f 1 13 19
+f 1 19 25
+f 1 25 31
+f 1 31 37
+f 1 37 43
+f 1 43 40
+f 1 40 34
+f 1 34 26
+f 1 26 20
+f 1 20 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 9
+f 4 9 16
+f 4 16 21
+f 4 21 27
+f 4 27 33
+f 4 33 39
+f 4 39 45
+f 4 45 41
+f 4 41 35
+f 4 35 28
+f 4 28 22
+f 4 22 17
+f 4 17 11
+f 4 11 6
+f 4 6 5
+f 6 11 7
+f 7 12 13
+f 7 11 12
+f 8 14 9
+f 8 15 14
+f 9 14 16
+f 11 17 12
+f 12 17 13
+f 13 17 18
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+f 14 15 16
+f 15 20 21
+f 15 21 16
+f 17 22 23
+f 17 23 18
+f 18 23 30
+f 18 30 29
+f 18 29 36
+f 18 36 42
+f 18 42 44
+f 18 44 38
+f 18 38 31
+f 18 31 25
+f 18 25 24
+f 18 24 19
+f 19 24 25
+f 20 26 21
+f 21 26 27
+f 22 28 29
+f 22 29 30
+f 22 30 23
+f 26 32 33
+f 26 33 27
+f 26 34 32
+f 28 35 29
+f 29 35 36
+f 31 38 37
+f 32 34 33
+f 33 34 40
+f 33 40 39
+f 35 41 36
+f 36 41 42
+f 37 38 44
+f 37 44 43
+f 39 40 46
+f 39 46 44
+f 39 44 45
+f 40 43 44
+f 40 44 46
+f 41 45 42
+f 42 45 44
+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_41.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6585a32117eb7b0f066e60517090ee56eddb1928
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_41.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.03241373 0.00937522 0.00827700
+v -0.03510052 0.01044404 0.00827701
+v -0.03241373 0.01458213 0.00827702
+v -0.03241373 0.00996904 0.01615512
+v -0.03510052 0.00962747 0.01615512
+v -0.03510052 0.00969310 0.01458292
+v -0.03510052 0.00969794 0.01450225
+v -0.03510052 0.01377043 0.00827702
+v -0.03349896 0.01429758 0.00827702
+v -0.03510052 0.01483654 0.01439133
+v -0.03510052 0.01487042 0.01615513
+v -0.03241373 0.01446430 0.01615513
+v -0.03241373 0.01007447 0.01713938
+v -0.03510052 0.00963500 0.01621058
+v -0.03510052 0.01435188 0.01744495
+v -0.03241373 0.01401030 0.01780598
+v -0.03241373 0.01013471 0.01758108
+v -0.03510052 0.00997119 0.01728560
+v -0.03510052 0.01273977 0.01815491
+v -0.03241373 0.01280378 0.01856535
+v -0.03241373 0.01095393 0.01822650
+v -0.03241373 0.01109271 0.01832029
+v -0.03510052 0.01001906 0.01731787
+v -0.03510052 0.01117393 0.01796430
+v -0.03241373 0.01273977 0.01857947
+v -0.03510052 0.01109271 0.01794917
+f 1 2 8
+f 1 8 9
+f 1 9 3
+f 1 3 12
+f 1 12 16
+f 1 16 20
+f 1 20 25
+f 1 25 22
+f 1 22 21
+f 1 21 17
+f 1 17 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 6
+f 2 6 5
+f 2 5 14
+f 2 14 18
+f 2 18 23
+f 2 23 26
+f 2 26 24
+f 2 24 19
+f 2 19 15
+f 2 15 11
+f 2 11 10
+f 2 10 8
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 4 13 5
+f 5 13 14
+f 8 10 9
+f 11 15 16
+f 11 16 12
+f 13 17 14
+f 14 17 18
+f 15 19 20
+f 15 20 16
+f 17 21 18
+f 18 21 22
+f 18 22 23
+f 19 24 25
+f 19 25 20
+f 22 25 24
+f 22 24 26
+f 22 26 23
+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_42.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f494ec969f9b5cbaac97a3357e9eb19f0c5dcb35
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_42.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.03214662 0.01417832 0.00098862
+v 0.02658503 0.01586076 -0.00368729
+v 0.02359078 0.01584094 0.00098863
+v 0.03214662 0.00876685 0.00098860
+v 0.03214662 0.01441315 -0.01030098
+v 0.02975691 0.01561963 -0.01033533
+v 0.02975004 0.01562104 -0.01030097
+v 0.02954198 0.01558285 -0.00864699
+v 0.02825439 0.01594352 -0.00864699
+v 0.02825439 0.01579218 -0.00699413
+v 0.02491567 0.01594350 -0.00203442
+v 0.02324631 0.01589469 0.00098863
+v 0.02658503 0.01597179 -0.00534015
+v 0.02212064 0.00876685 0.00098860
+v 0.03214662 0.00876689 -0.01033536
+v 0.03214662 0.01441315 -0.01033534
+v 0.02829266 0.01598242 -0.01033533
+v 0.02825439 0.01599162 -0.01030097
+v 0.02324631 0.01595905 -0.00038044
+v 0.02265354 0.01592510 0.00098863
+v 0.02212064 0.01596400 0.00073477
+v 0.02212064 0.01595197 0.00098863
+v 0.02212064 0.00876687 -0.00472936
+v 0.02461634 0.00876689 -0.01033536
+v 0.02825439 0.01599091 -0.01033533
+v 0.02661938 0.01596474 -0.01033533
+v 0.02658503 0.01596474 -0.01030097
+v 0.02212064 0.01594066 -0.00091921
+v 0.02212064 0.01273990 -0.00473267
+v 0.02461241 0.01270598 -0.01033534
+v 0.02658503 0.01596262 -0.01033533
+v 0.02212064 0.01572992 -0.00268404
+v 0.02212064 0.01438767 -0.00463290
+v 0.02461241 0.01273992 -0.01033534
+v 0.02528075 0.01560054 -0.01033533
+v 0.02212064 0.01549160 -0.00383029
+v 0.02525817 0.01559276 -0.01033533
+v 0.02212064 0.01542159 -0.00404202
+v 0.02231692 0.01530986 -0.00468277
+v 0.02468798 0.01438769 -0.01033534
+f 1 2 3
+f 1 3 12
+f 1 12 20
+f 1 20 22
+f 1 22 14
+f 1 14 4
+f 1 4 15
+f 1 15 16
+f 1 16 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 12
+f 2 12 3
+f 2 10 9
+f 2 9 13
+f 2 13 11
+f 4 14 23
+f 4 23 24
+f 4 24 15
+f 5 16 6
+f 6 17 7
+f 6 16 15
+f 6 15 24
+f 6 24 30
+f 6 30 34
+f 6 34 40
+f 6 40 37
+f 6 37 35
+f 6 35 31
+f 6 31 26
+f 6 26 25
+f 6 25 17
+f 7 17 18
+f 7 18 9
+f 7 9 8
+f 9 18 13
+f 11 19 12
+f 11 13 19
+f 12 19 20
+f 13 18 21
+f 13 21 19
+f 14 22 21
+f 14 21 28
+f 14 28 32
+f 14 32 36
+f 14 36 38
+f 14 38 33
+f 14 33 29
+f 14 29 23
+f 17 25 18
+f 18 25 26
+f 18 26 27
+f 18 27 21
+f 19 21 20
+f 20 21 22
+f 21 27 28
+f 23 29 30
+f 23 30 24
+f 26 31 27
+f 27 31 28
+f 28 31 32
+f 29 33 34
+f 29 34 30
+f 31 35 32
+f 32 35 37
+f 32 37 36
+f 33 38 39
+f 33 39 40
+f 33 40 34
+f 36 37 38
+f 37 40 39
+f 37 39 38
+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_43.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..315fd81eca238e0cf3b9b26247943c0ef47c2796
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_43.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.03241242 0.01039773 0.01329603
+v -0.03241242 0.01033214 0.01341922
+v -0.03241242 0.01408745 0.01329604
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+v -0.02174667 0.01105095 0.02307617
+v -0.03241242 0.01109234 0.01832181
+v -0.02174667 0.01110817 0.02310321
+f 1 2 5
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+f 1 41 50
+f 1 50 52
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+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_44.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77ed4293486891b0a663b7edafc56941302f7e2a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_44.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.04180437 0.01274009 0.01615648
+v 0.04180059 0.01109247 0.01615647
+v 0.04178452 0.01274010 0.01450334
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+v 0.04164933 0.01438772 0.01615648
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+v 0.04128443 0.00957754 0.01615647
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+v 0.04098853 0.01539209 0.01323669
+v 0.04113317 0.01551013 0.01450335
+v 0.04113601 0.01551222 0.01615649
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+v 0.04082687 0.01363898 0.02038011
+v 0.03987490 0.01289303 0.02147796
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+v 0.04100649 0.00998056 0.01118962
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+v 0.03992406 0.01111969 0.02112438
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+v 0.03994013 0.01585726 0.01450335
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+v 0.03994013 0.01552409 0.01750703
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+v 0.03827063 0.00903975 0.01284912
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+v 0.03660208 0.00890145 0.01615646
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+v 0.03708894 0.01527965 0.01118964
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+v 0.03214662 0.01446455 0.01615648
+v 0.03214662 0.01415514 0.01739766
+v 0.03214662 0.01258922 0.01858788
+v 0.03214662 0.01143888 0.01835323
+v 0.03214662 0.01098001 0.01825555
+v 0.03214662 0.01013839 0.01742951
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+v 0.03214662 0.01029485 0.01377285
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+v 0.03214662 0.01079006 0.01178420
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+v 0.03214662 0.01431649 0.01450334
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+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_45.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..919b05d8e3fa3c805f79a00c7d47931ec4e3f5a9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_45.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.03827028 0.01534488 0.00824971
+v 0.03827028 0.01534184 0.01118964
+v 0.03948047 0.01527394 0.01118964
+v 0.03946341 0.01527455 0.00824971
+v 0.03802788 0.01533700 0.00824971
+v 0.03695954 0.01528244 0.00824971
+v 0.03708972 0.01528000 0.01118964
+v 0.04031269 0.01503810 0.01118964
+v 0.03964565 0.01522605 0.00824971
+v 0.03214662 0.01463493 0.00824970
+v 0.03708253 0.01527879 0.01118964
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+v 0.04029833 0.01503326 0.00824971
+v 0.03214662 0.00915179 0.00824968
+v 0.03214662 0.01370126 0.01118963
+v 0.04103270 0.01421356 0.01118963
+v 0.04104168 0.01420933 0.00824970
+v 0.03827028 0.00930698 0.01118961
+v 0.03826489 0.00930759 0.01118961
+v 0.03660223 0.00957435 0.01118962
+v 0.03214662 0.01100213 0.01118962
+v 0.03827028 0.00931730 0.00824968
+v 0.04129754 0.01273971 0.01118963
+v 0.04131819 0.01273972 0.00824970
+v 0.03863567 0.00935852 0.00824968
+v 0.03994012 0.00951009 0.00824968
+v 0.03994012 0.00950160 0.01118961
+v 0.04127151 0.01109246 0.01118962
+v 0.04128946 0.01109247 0.00824969
+v 0.04101385 0.00998299 0.00824969
+v 0.04100667 0.00998055 0.01118962
+v 0.04123470 0.01085057 0.00824969
+f 1 2 3
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+f 1 29 32
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+f 30 32 31
+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_46.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbe2963c607a66db0bec874cd8c15c4e4925e2bf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_46.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.02883672 -0.01508706 -0.01030042
+v 0.02883672 -0.01508637 -0.01033545
+v 0.03230375 -0.01494055 0.00453394
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+v 0.02883672 -0.01480370 0.00789742
+v 0.02883672 -0.00799014 -0.01033542
+v 0.02975957 -0.01486199 -0.01033544
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+v 0.03095122 -0.01319066 0.01352657
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+v 0.02883672 -0.01197772 0.00997624
+v 0.02883672 -0.01279537 0.00986178
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+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_47.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebb8104b86accff2f3433779b0e79749ba167245
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_47.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.03508014 -0.01410406 0.01615495
+v -0.03508014 -0.01408192 0.01458515
+v -0.03191908 -0.01370265 0.01615495
+v -0.03508014 -0.01409994 0.01620825
+v -0.03191908 -0.01369956 0.01608142
+v -0.03508014 -0.01407368 0.01439582
+v -0.03191908 -0.01325133 0.01791316
+v -0.03191908 -0.01324825 0.01792327
+v -0.03508014 -0.01358634 0.01744075
+v -0.03191908 -0.01337583 0.00938863
+v -0.03508014 -0.01219477 0.00938864
+v -0.03313059 -0.01307632 0.00938863
+v -0.03191908 -0.01197764 0.01877803
+v -0.03508014 -0.01343607 0.01751887
+v -0.03191908 -0.00940498 0.00938865
+v -0.03508014 -0.01046768 0.00938864
+v -0.03191908 -0.01107653 0.01868244
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diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_48.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66059402eb6b8e60ebe52f4e16016e0a912110bd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_48.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_49.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d14bd32355a8a12bdf28ee35fd2f3e6c4454ec0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_49.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_5.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d56191da991a1cfdf52f6331d23cbff0ef58e81d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_5.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_50.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..477bfbb2a241b8c6994f407f5e5f6808d21bd27e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_50.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.03456765 -0.01406946 0.01450140
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+v 0.03230431 -0.01384967 0.00819558
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+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_51.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce3e6afcc6d482c793a3f0db66cf5a2fa2977f9d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_51.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_52.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aac18c6d835d611d2fa39d0bdc710d74ecabfd8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_52.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_53.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc99e6078875a6d32a84f4a2b8b62b9599eb09a6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_53.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.02174667 0.01394894 0.01329504
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+v -0.03241242 0.00875877 0.00098001
+v -0.02174667 0.01594831 0.00098004
+v -0.02174667 0.01595254 0.00127417
+v -0.02182811 0.01595183 0.00127417
+v -0.02683679 0.01568419 0.00788734
+v -0.03017382 0.01567082 0.00623465
+v -0.03241242 0.01564899 0.00452289
+v -0.03241242 0.01424617 0.00098003
+v -0.02182811 0.01595324 0.00098004
+v -0.03241242 0.01529970 0.00363206
+v -0.02358538 0.01572577 0.00098004
+f 1 2 5
+f 1 5 11
+f 1 11 10
+f 1 10 9
+f 1 9 19
+f 1 19 12
+f 1 12 6
+f 1 6 3
+f 1 3 7
+f 1 7 14
+f 1 14 24
+f 1 24 25
+f 1 25 15
+f 1 15 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 12 7
+f 7 12 13
+f 7 13 21
+f 7 21 22
+f 7 22 23
+f 7 23 14
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 20
+f 9 20 29
+f 9 29 32
+f 9 32 30
+f 9 30 23
+f 9 23 22
+f 9 22 19
+f 12 21 13
+f 12 19 22
+f 12 22 21
+f 14 23 30
+f 14 30 33
+f 14 33 31
+f 14 31 24
+f 15 25 16
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 17 27 20
+f 17 20 18
+f 20 27 28
+f 20 28 29
+f 24 31 25
+f 25 31 26
+f 26 31 29
+f 26 29 28
+f 26 28 27
+f 29 31 33
+f 29 33 32
+f 30 32 33
+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_54.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e05488b059cab7ec8ab80704651dd303ec930caf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_54.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.02837221 0.00876685 0.00098971
+v 0.02837221 0.01409420 0.00098973
+v 0.03214662 0.00876685 0.00098971
+v 0.02837221 0.00876682 0.00947920
+v 0.03214662 0.01417842 0.00098973
+v 0.02837221 0.01540958 0.00557054
+v 0.02856137 0.01535206 0.00520835
+v 0.03214662 0.01564102 0.00453138
+v 0.03214662 0.01549587 0.00404523
+v 0.03214662 0.00876682 0.00815199
+v 0.02929808 0.00876682 0.00927015
+v 0.03214662 0.01038144 0.01340613
+v 0.03159317 0.01042526 0.01340613
+v 0.03009094 0.01112576 0.01340613
+v 0.02989623 0.01192760 0.01340613
+v 0.02975621 0.01273971 0.01340614
+v 0.02837221 0.01105319 0.00995199
+v 0.02837221 0.01548285 0.00591814
+v 0.02837221 0.01551845 0.00610652
+v 0.02992394 0.01567389 0.00623536
+v 0.03214662 0.01576222 0.00568722
+v 0.03214662 0.01403457 0.01340614
+v 0.03032074 0.01381066 0.01340614
+v 0.02837221 0.01538081 0.00896998
+v 0.02837221 0.01432560 0.00971743
+v 0.02837221 0.01273972 0.01008326
+v 0.02837221 0.01257196 0.01007354
+v 0.02837221 0.01564033 0.00777039
+v 0.03214662 0.01546298 0.00706182
+v 0.02837221 0.01562389 0.00788950
+v 0.02837221 0.01539656 0.00891407
+v 0.03195783 0.01403868 0.01340614
+v 0.03159317 0.01404553 0.01340614
+f 1 2 5
+f 1 5 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 17
+f 1 17 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 31
+f 1 31 30
+f 1 30 28
+f 1 28 19
+f 1 19 18
+f 1 18 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 3 5 9
+f 3 9 8
+f 3 8 21
+f 3 21 29
+f 3 29 22
+f 3 22 12
+f 3 12 10
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 6 18 8
+f 6 8 7
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 10 12 11
+f 12 22 32
+f 12 32 33
+f 12 33 23
+f 12 23 16
+f 12 16 15
+f 12 15 14
+f 12 14 13
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 19 28 20
+f 20 28 21
+f 21 28 30
+f 21 30 29
+f 22 31 24
+f 22 24 32
+f 22 29 31
+f 23 33 24
+f 24 33 32
+f 29 30 31
+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_6.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66d32933cf54435ee94b7203c6d1c649803d0bfc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_6.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.01447857 -0.00373932 0.00337036
+v 0.01447857 0.00037962 0.00337037
+v 0.01447857 -0.00754363 0.00337568
+v 0.00015062 -0.00799021 0.00768968
+v 0.01447857 0.00037958 0.01457019
+v 0.00015062 0.00037960 0.00769639
+v 0.01447857 -0.00799019 0.00337702
+v 0.00015062 -0.00799024 0.01701773
+v 0.01447857 -0.00799023 0.01484938
+v 0.01322882 0.00037958 0.01492423
+v 0.00015062 0.00037957 0.01677995
+v 0.00154485 0.00037957 0.01676526
+v 0.00084633 0.00037957 0.01677327
+v 0.00070887 0.00037957 0.01677461
+v 0.00149154 -0.00799024 0.01694025
+v 0.00321398 0.00037957 0.01668643
+v 0.00895218 -0.00799024 0.01618540
+v 0.01202536 0.00037957 0.01523953
+v 0.00655226 -0.00799024 0.01658219
+v 0.00488312 0.00037957 0.01653813
+v 0.00822561 -0.00799024 0.01632969
+v 0.01119079 0.00037957 0.01543993
+v 0.01053997 0.00037957 0.01558556
+v 0.00989054 0.00037957 0.01572985
+v 0.00655226 0.00037957 0.01632437
+v 0.00905457 0.00037957 0.01589284
+v 0.00822140 0.00037957 0.01605450
+f 1 2 5
+f 1 5 9
+f 1 9 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 11
+f 2 11 14
+f 2 14 13
+f 2 13 12
+f 2 12 16
+f 2 16 20
+f 2 20 25
+f 2 25 27
+f 2 27 26
+f 2 26 24
+f 2 24 23
+f 2 23 22
+f 2 22 18
+f 2 18 10
+f 2 10 5
+f 3 7 4
+f 4 8 11
+f 4 11 6
+f 4 7 9
+f 4 9 17
+f 4 17 21
+f 4 21 19
+f 4 19 15
+f 4 15 8
+f 5 10 9
+f 8 12 13
+f 8 13 14
+f 8 14 11
+f 8 15 16
+f 8 16 12
+f 9 10 18
+f 9 18 17
+f 15 19 16
+f 16 19 20
+f 17 18 22
+f 17 22 23
+f 17 23 24
+f 17 24 21
+f 19 21 25
+f 19 25 20
+f 21 24 26
+f 21 26 27
+f 21 27 25
+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_7.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7c2ef7fd1a30bc432eb6dd2a3cc4b3623034d4a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_7.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.04389329 -0.01669403 -0.01500708
+v -0.04389329 -0.01669403 -0.01400708
+v -0.04389329 0.01746774 -0.01500708
+v -0.04389329 0.01746774 -0.01400708
+v -0.02415287 -0.01669403 -0.01500708
+v -0.02415287 -0.01669403 -0.01400708
+v -0.02415287 0.01746774 -0.01500708
+v -0.02415287 0.01746774 -0.01400708
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_8.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..466acc80095926b21bfc8490e203caa7bef057ae
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_8.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02326425 -0.01848402 -0.01583587
+v 0.02326425 -0.01848402 -0.01483587
+v 0.02326425 0.01925194 -0.01583587
+v 0.02326425 0.01925194 -0.01483587
+v 0.04611666 -0.01848402 -0.01583587
+v 0.04611666 -0.01848402 -0.01483587
+v 0.04611666 0.01925194 -0.01583587
+v 0.04611666 0.01925194 -0.01483587
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_9.obj b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..956578672e0ad6569c97f4aebc2393ac319d1467
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mesh/mini_sculpture_008_collision_9.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.02074386 -0.00705876 0.01229192
+v -0.02074386 -0.00044316 0.01227866
+v -0.04174111 -0.00705873 0.00567825
+v -0.02074386 -0.00705870 -0.00358886
+v -0.02120974 -0.00043926 0.01210368
+v -0.04114181 -0.00043924 0.00545014
+v -0.02074386 -0.00043926 0.01139934
+v -0.04253288 -0.00705873 0.00520869
+v -0.02395688 -0.00705867 -0.01033542
+v -0.02074386 -0.00665697 -0.00359107
+v -0.04197733 -0.00043924 0.00462842
+v -0.02074386 -0.00043921 -0.00324995
+v -0.04271004 -0.00043923 0.00380226
+v -0.04299438 -0.00705873 0.00444234
+v -0.04214574 -0.00705867 -0.01033542
+v -0.02395251 -0.00044307 -0.01033539
+v -0.02074386 -0.00044310 -0.00359769
+v -0.02117912 -0.00043920 -0.00423558
+v -0.04300751 -0.00705873 0.00424300
+v -0.04270786 -0.00043923 0.00277455
+v -0.04308843 -0.00705872 0.00292514
+v -0.04234041 -0.00538630 -0.01033541
+v -0.02395251 -0.00043918 -0.01033539
+v -0.04270567 -0.00043923 0.00262837
+v -0.04269473 -0.00043923 0.00209901
+v -0.04244977 -0.00043922 -0.00037945
+v -0.04223761 -0.00043921 -0.00203176
+v -0.04090559 -0.00043918 -0.01033539
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 19
+f 1 19 21
+f 1 21 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 12
+f 1 12 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 5
+f 3 6 8
+f 4 9 10
+f 5 7 12
+f 5 12 18
+f 5 18 23
+f 5 23 28
+f 5 28 27
+f 5 27 26
+f 5 26 25
+f 5 25 24
+f 5 24 20
+f 5 20 13
+f 5 13 11
+f 5 11 6
+f 6 11 8
+f 8 11 13
+f 8 13 14
+f 9 15 22
+f 9 22 28
+f 9 28 23
+f 9 23 16
+f 9 16 10
+f 10 16 17
+f 12 17 18
+f 13 19 14
+f 13 20 21
+f 13 21 19
+f 15 21 22
+f 16 23 17
+f 17 23 18
+f 20 24 21
+f 21 24 25
+f 21 25 22
+f 22 25 26
+f 22 26 27
+f 22 27 28
+
diff --git a/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mini_sculpture_008.xml b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mini_sculpture_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..200cecdccc1323de5bf40d165ad6e89605f9d84a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a241161abe5354bfbd2c0b5a40ab7936/mjcf/mini_sculpture_008.xml
@@ -0,0 +1,124 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mini_sculpture_008">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/mini_sculpture_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mini_sculpture_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mini_sculpture_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mini_sculpture_008_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mini_sculpture_008_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mini_sculpture_008_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mini_sculpture_008_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mini_sculpture_008_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mini_sculpture_008_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mini_sculpture_008_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mini_sculpture_008_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/mini_sculpture_008_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/mini_sculpture_008_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/mini_sculpture_008_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/mini_sculpture_008_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/mini_sculpture_008_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/mini_sculpture_008_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/mini_sculpture_008_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/mini_sculpture_008_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/mini_sculpture_008_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/mini_sculpture_008_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/mini_sculpture_008_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/mini_sculpture_008_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/mini_sculpture_008_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/mini_sculpture_008_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/mini_sculpture_008_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/mini_sculpture_008_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/mini_sculpture_008_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/mini_sculpture_008_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/mini_sculpture_008_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/mini_sculpture_008_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/mini_sculpture_008_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/mini_sculpture_008_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/mini_sculpture_008_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/mini_sculpture_008_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/mini_sculpture_008_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/mini_sculpture_008_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/mini_sculpture_008_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/mini_sculpture_008_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/mini_sculpture_008_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/mini_sculpture_008_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/mini_sculpture_008_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/mini_sculpture_008_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/mini_sculpture_008_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/mini_sculpture_008_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/mini_sculpture_008_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/mini_sculpture_008_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/mini_sculpture_008_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
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