diff --git a/.gitattributes b/.gitattributes
index 9a778275a70b040b9738df6b81533d7e3bdd0932..339b9ec857e611ffa32b8b83d3be8a18a8116815 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2885,3 +2885,5 @@ dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mesh/vase_
 dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/vase_002.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/mesh/phone_stand_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/4499c8358b815fc88f1017ed0bdee39a/phone_stand_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mesh/phone_stand_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/phone_stand_003.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mesh/material.mtl b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9f9e198720fdf3d04fab6779eb228ecfff57b367
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl phone_stand_003_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd phone_stand_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mesh/material_0.png b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b5aca964bbc5b65dba4504659a49950a9ebd7c1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abd64b6ae0ba0502a8d66f6840f33afac7e574e89b69b1507a64a56ec14f7ed4
+size 9905427
diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mesh/phone_stand_003.glb b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mesh/phone_stand_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b27f8423ca728d176719d010b6aa262d1e3f99ee
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mesh/phone_stand_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2425e297deeee8b2ce5fb2dd708d50c8ae181497fd68fb793899cac04a80807f
+size 13315444
diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mesh/phone_stand_003.mtl b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mesh/phone_stand_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..68adcf4e6053e4384f1225950ce3863139301112
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mesh/phone_stand_003.mtl
@@ -0,0 +1,6 @@
+newmtl phone_stand_003_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mesh/phone_stand_003.obj b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mesh/phone_stand_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4b61b81c354429fd3e94d1d00becd1d53fedcc9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mesh/phone_stand_003.obj
@@ -0,0 +1,114100 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl phone_stand_003_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mesh/phone_stand_003_collision.obj b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mesh/phone_stand_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6855d1ddce48b1f9833967e1bc85221884d8bff6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mesh/phone_stand_003_collision.obj
@@ -0,0 +1,12704 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mesh/phone_stand_003_geometry_Looks_material_0.png b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mesh/phone_stand_003_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..4b5aca964bbc5b65dba4504659a49950a9ebd7c1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mesh/phone_stand_003_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 9905427
diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..4b5aca964bbc5b65dba4504659a49950a9ebd7c1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abd64b6ae0ba0502a8d66f6840f33afac7e574e89b69b1507a64a56ec14f7ed4
+size 9905427
diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003.obj b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e62e5266ba922ddfb36291533d0db24076e1e70
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl phone_stand_003_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision.obj b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..796b369bc4bce5b4332d688d767e0a2daf7b4d78
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision.obj
@@ -0,0 +1,12704 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_0.obj b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a20b9d7711ed298b0a409741fdcfe92c00141dc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_1.obj b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d650cf039fbc0c56f20c3ddd3ecef4ddddbc6df4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_1.obj
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diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_10.obj b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55a6849ab7f719b5b954d7ffc70db850585da1b4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_10.obj
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+
diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_11.obj b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c119c31dd6ecffd0ed0e098ea99dd2f7ebb7800
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_11.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_12.obj b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94c1e6ab074381caa06e6734717f7de28e366fea
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_12.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00026401 -0.01521043 0.01625848
+v -0.00026401 -0.01521043 0.01725848
+v -0.00026401 -0.00820563 0.01625848
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+v 0.01814467 -0.01521043 0.01725848
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+v 0.01814467 -0.00820563 0.01725848
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+
diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_13.obj b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dd2ad1903a3197c19826006becc0579c1e42663
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_13.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_14.obj b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae93d69e51a92022918d61c0cd5d1c825d081a47
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_14.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.00626175 0.00410441 0.04186588
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+v 0.00374834 0.00560034 0.03642279
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diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_15.obj b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16ca6c37d7321634e27d8f511aa4bd7144f31857
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_15.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_16.obj b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..228d4fc44fdf8503a86ffa37afa04d06fd7d8494
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_16.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_17.obj b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a32ca1645ce4b9b4532cbda9ca7f48f475c19a3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_17.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_2.obj b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbaba4a3e3eaaf1fd6f4408a4b3e2d631c015aef
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_2.obj
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diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_3.obj b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..945b30f7e0ec16b5cd6aa106e6e56b4eff4b3748
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_3.obj
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diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_4.obj b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce6930771d056b2ec19abdc1e6541a368f70dc11
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_4.obj
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diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_5.obj b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d5d97a8caebbbd84b92d534ad9399c47e4bdef0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_5.obj
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diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_6.obj b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02c981ee67d6c1717eaae7f6e40b052d2fbef9c7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_6.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_7.obj b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8357973a9de614b98d5bd5ae58664d83d8ec6f1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_7.obj
@@ -0,0 +1,694 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_8.obj b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38c2ba0dba2830bd597b9f346e0d6d3e23db5bb8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_8.obj
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diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_9.obj b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b3d0356cbe7c7a8327fc1ae21886eb66af87741
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/mesh/phone_stand_003_collision_9.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/phone_stand_003.xml b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/phone_stand_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..25f4302e42fcc6cbc00ed5af41a2492a5d21eabb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/mjcf/phone_stand_003.xml
@@ -0,0 +1,50 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="phone_stand_003">
+  <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/phone_stand_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/phone_stand_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/phone_stand_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/phone_stand_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/phone_stand_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/phone_stand_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/phone_stand_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/phone_stand_003_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/phone_stand_003_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/phone_stand_003_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/phone_stand_003_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/phone_stand_003_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/phone_stand_003_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/phone_stand_003_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/phone_stand_003_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/phone_stand_003_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/phone_stand_003_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/phone_stand_003_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/phone_stand_003_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="phone_stand_003">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/phone_stand_003.urdf b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/phone_stand_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7c16cbf142c63d0d8f743bac2bdfb8abfa6e27c3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/phone_stand_003.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="phone_stand_003">
+   <link name="phone_stand_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/phone_stand_003.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/phone_stand_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>47590a0c88ce512c95685b2143fc570e</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>decorations</super_category>
+         <category>phone_stand</category>
+         <name>flexible phone stand</name>
+         <color>pink</color>
+         <shape>L-shape</shape>
+         <material>plastic</material>
+         <description>adjustable phone stand with curved arm and circular base</description>
+         <min_height>0.0889</min_height>
+         <max_height>0.0889</max_height>
+         <real_height>0.0889</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420200408</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>7</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>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/phone_stand_003.usd b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/phone_stand_003.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/decorations/47590a0c88ce512c95685b2143fc570e/phone_stand_003.usd
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