diff --git a/.gitattributes b/.gitattributes
index 08eac31210261602b5f1cc80bf0c0a27a8f84309..d885e7a9a11986cc39feec15c7dd14342b79f491 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2931,5 +2931,5 @@ dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/therm
 dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/thermos_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mesh/mini_sculpture_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mini_sculpture_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/a0e79ecd809055e3b0b15f871c3cf468/mesh/vase_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/a0e79ecd809055e3b0b15f871c3cf468/vase_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mesh/phone_stand_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/phone_stand_010.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mesh/material.mtl b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5e53e38d3f70e0741bad4782037b2d09838ee370
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl phone_stand_010_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_010_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mesh/material_0.png b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e58db9853f21cf568daef1269a68fef30aebc185
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e023ce2071a25939bbb92925193ec9047aed3ec5a9d89e7ac59b12348a120a0
+size 11765115
diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mesh/phone_stand_010.glb b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mesh/phone_stand_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..40d407a4728d2b0747be237c41148cc91efec900
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mesh/phone_stand_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:016d48e03276e7f4f687cc459ab4b6700fc5ed64c33142e4f366914371517feb
+size 15059692
diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mesh/phone_stand_010.mtl b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mesh/phone_stand_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8cc3b2e1e133bdec472fa2eff05105917002a8b8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mesh/phone_stand_010.mtl
@@ -0,0 +1,6 @@
+newmtl phone_stand_010_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/9d654babd3485be9ae8f936ca3444381/mesh/phone_stand_010.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mesh/phone_stand_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8713810e3872d28cc1d1320358b290c231c11214
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mesh/phone_stand_010.obj
@@ -0,0 +1,112508 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl phone_stand_010_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mesh/phone_stand_010_collision.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mesh/phone_stand_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..159e8e3cf686611327591389adf6ec087337605e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mesh/phone_stand_010_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mesh/phone_stand_010_geometry_Looks_material_0.png b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mesh/phone_stand_010_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e58db9853f21cf568daef1269a68fef30aebc185
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mesh/phone_stand_010_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11765115
diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e58db9853f21cf568daef1269a68fef30aebc185
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e023ce2071a25939bbb92925193ec9047aed3ec5a9d89e7ac59b12348a120a0
+size 11765115
diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fec252a25415de92c24f0729403d913cb2c0ee82
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5006f27d3114671dd6d6bb4729cf5a52fdfe991
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision.obj
@@ -0,0 +1,9460 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_0.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ec179d532336650d2dcbab02dccdd6500fcb027
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_1.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80397296343de6e7738d04ad0ecc8332daf0ac06
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_1.obj
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diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_10.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6329df30faae346b9715cceb307d581cd85964b8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_10.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_11.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..227cb1ed52082f4eb8b6f3c226f5cacd61e4cd5f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_11.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_12.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..463cff61a8baa7ced53e8568b00e690efb9cfbba
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_12.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_13.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40036055f4479b0675668c85e27e7c08ab881861
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_13.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_14.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37ea9928a149062a591c1ff0ccdaf0d236b528e1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_14.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.01383676 0.00992357 0.01072352
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diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_15.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5608aac6f587581280ceb9bd1497f31163feb27a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_15.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_16.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ded5cbb91c59dffe6ba482f986ac30966d2ac6d9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_16.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_17.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..880930cd41e0218f9a059f961e55803fdfabdc85
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_17.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.01209851 0.01274243 0.00141051
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+v 0.00569086 0.01334883 0.00141051
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diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_18.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc67a2a1b237421c1492360bdeba685fec94b518
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_18.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_19.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1da4863e1256b4b37520ef55288f03bf27023df
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_19.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_2.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d636124f645d6ac9e136dda4d2b755458123638
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_2.obj
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+
diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_20.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaaf09301131bb5e55efd7fee54ccd2faae905f2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_20.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.00010560 -0.00014124 0.02730295
+v 0.00010560 -0.00014125 0.03012364
+v 0.00010560 0.00039046 0.02730295
+v 0.01499070 -0.00014124 0.02730295
+v 0.00010560 0.00137807 0.03012365
+v 0.02306714 -0.00014125 0.03012364
+v 0.00010560 0.00086224 0.02851296
+v 0.01152231 0.00243066 0.02730296
+v 0.01352512 0.00175244 0.02730296
+v 0.02171170 -0.00014124 0.02749376
+v 0.01209775 0.00149338 0.03012365
+v 0.01209775 0.00243066 0.02783396
+v 0.01186847 0.00243066 0.02773400
+v 0.02306939 -0.00014125 0.03009078
+v 0.02298847 0.00040606 0.03012364
+v 0.01261250 0.00243066 0.02730296
+v 0.01336103 0.00191331 0.02730296
+v 0.02241752 -0.00014124 0.02769561
+v 0.02171170 0.00122828 0.03012364
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+v 0.02295025 0.00049946 0.03012364
+v 0.02280190 -0.00014124 0.02815288
+v 0.02286259 -0.00005011 0.02851296
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+
diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_21.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b0fbc25fe6bc5f0df543073b20a517e4c069ab1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_21.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.01483142 -0.00014124 0.02730198
+v -0.02154768 -0.00014124 0.02747820
+v -0.01318952 0.00191356 0.02730199
+v 0.00010560 -0.00014124 0.02730198
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+v 0.00010560 0.00039021 0.02730198
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+v -0.01212195 0.00243066 0.02772817
+v -0.01129762 0.00243066 0.02730199
+v 0.00010560 0.00086224 0.02851284
+v -0.02290354 -0.00014125 0.03012364
+v 0.00010560 0.00137807 0.03012365
+v -0.02289228 -0.00014125 0.02957372
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+v -0.01193276 0.00149766 0.03012365
+v -0.01193276 0.00243066 0.02783892
+v -0.02281795 0.00040304 0.03012364
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+
diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_22.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9dcfa7c21a7ed52461654a969ae7163b06ea59c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_22.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00567742 -0.01032920 0.00931364
+v 0.00567742 -0.01599321 0.00931362
+v 0.00567742 -0.01219849 0.00587459
+v -0.00554179 -0.01219084 0.00587517
+v -0.00554179 -0.01033345 0.00931364
+v 0.00567742 -0.01840146 0.00695043
+v -0.00552532 -0.01599491 0.00931362
+v -0.00552532 -0.01840486 0.00695452
+v 0.00567742 -0.01288025 0.00466787
+v -0.00554179 -0.01287855 0.00466203
+v -0.00554179 -0.01599491 0.00931362
+v 0.00567742 -0.01840656 0.00694167
+v -0.00554179 -0.01840486 0.00695393
+v -0.00554179 -0.01841081 0.00694342
+v -0.00552532 -0.01901265 0.00587456
+v 0.00567742 -0.01901350 0.00587456
+v 0.00567742 -0.01632557 0.00335076
+v -0.00554179 -0.01632047 0.00334726
+v -0.00554179 -0.01901180 0.00587456
+v -0.00554179 -0.01900840 0.00585762
+v -0.00554179 -0.01871342 0.00444707
+v -0.00552532 -0.01871427 0.00444999
+v 0.00248495 -0.01871767 0.00444882
+v 0.00567742 -0.01871852 0.00444707
+v 0.00567742 -0.01679906 0.00335076
+v -0.00554179 -0.01678545 0.00334726
+v -0.00554179 -0.01869982 0.00443714
+v 0.00567742 -0.01759982 0.00363813
+v -0.00554179 -0.01759302 0.00363579
+v -0.00554179 -0.01679991 0.00334843
+f 1 2 6
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+f 1 17 9
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+f 28 29 30
+
diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_23.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7682b42d91ed37dc633b2dada5fa7274188c74e1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_23.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v 0.01777675 -0.01977906 -0.00206927
+v 0.01530376 -0.01890761 -0.00205033
+v 0.01850795 -0.01890761 -0.00205033
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+v 0.01457256 -0.01977906 -0.00206816
+v 0.01209958 -0.01977906 -0.00206704
+v 0.01209958 -0.01890761 -0.00204810
+v 0.01209958 -0.01732500 -0.00167704
+v 0.02011004 -0.01733210 -0.00167481
+v 0.02011004 -0.01890761 -0.00204921
+v 0.02171213 -0.01977906 -0.00195227
+v 0.01132527 -0.01977906 -0.00190101
+v 0.01035608 -0.01886703 -0.00167370
+v 0.01079583 -0.01758065 -0.00158455
+v 0.01209958 -0.01652457 -0.00139401
+v 0.02011004 -0.01653167 -0.00139067
+v 0.02171213 -0.01748529 -0.00161909
+v 0.02171213 -0.01890761 -0.00193333
+v 0.02275547 -0.01890761 -0.00160907
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+v 0.01035780 -0.01977906 -0.00168150
+v 0.00991460 -0.01977906 -0.00151770
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+v 0.00972835 -0.01830602 -0.00136282
+v 0.01035608 -0.01715052 -0.00124247
+v 0.01049749 -0.01570486 -0.00054604
+v 0.01049749 -0.01478370 0.00009245
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+v 0.02171213 -0.01570486 -0.00069313
+v 0.02171213 -0.01668487 -0.00131824
+v 0.02264338 -0.01779471 -0.00150990
+v 0.02297104 -0.01727834 -0.00069313
+v 0.02323317 -0.01890762 -0.00059285
+v 0.02324524 -0.01977907 -0.00059285
+v 0.00967489 -0.01977906 -0.00142522
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+v 0.00954555 -0.01570486 -0.00002345
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+v 0.02318143 -0.01250213 0.00587444
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+v 0.02188114 -0.01569373 0.00931421
+v 0.02262958 -0.01977908 0.00368598
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+v 0.02171213 -0.01574345 0.00931421
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+v 0.02071363 -0.01977909 0.00441471
+v 0.00879882 -0.01624968 0.00931421
+v 0.00714155 -0.01620403 0.00931421
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+
diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_24.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bf9fed848048c613c687d2cdeeab90b182d4b86
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_24.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00010705 -0.00030723 0.02392344
+v 0.00010705 -0.00030723 0.02730267
+v 0.00010705 0.00069277 0.02392344
+v 0.00010705 0.00069277 0.02730267
+v 0.01499277 -0.00030723 0.02392344
+v 0.01499277 -0.00030723 0.02730267
+v 0.01499277 0.00069277 0.02392344
+v 0.01499277 0.00069277 0.02730267
+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/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_25.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..541771e92a8f553418275e6a15ec67eca575cde5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_25.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.01326302 0.00243067 0.02326825
+v -0.01318179 0.00187967 0.02326825
+v -0.01377975 0.00050574 0.02692728
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+v -0.01030198 0.00184593 0.02730199
+v -0.01129670 0.00243066 0.02730199
+v -0.01045318 0.00195730 0.02730199
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+
diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_3.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc0ad947208e3970480c21fac4ac93c70d1943af
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_3.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.01209881 0.02740056 -0.01838555
+v 0.01209881 0.02739892 -0.01838012
+v 0.01301520 0.02683341 -0.01735363
+v 0.01320360 0.02705029 -0.01838555
+v 0.00003095 0.02675158 -0.01838555
+v 0.01209881 0.02689560 -0.01721188
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+v 0.00003095 0.02629818 -0.01732539
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+v 0.01307037 0.02528829 -0.01399283
+v 0.01320360 0.02704865 -0.01838012
+v 0.01364497 0.02593811 -0.01838555
+v 0.00003095 0.02204588 -0.01838557
+v 0.00003095 0.02507715 -0.01447946
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+v 0.01326146 0.02553136 -0.01514696
+v 0.01334758 0.02425549 -0.01283762
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+
diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_4.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88ad407343f3a0be727704b20cc918fed11b97d8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_4.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_5.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2880d1364c255c80cdb3391fd5f011c027fba824
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_5.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_6.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59f9c8d4138147aee5353b07e4bb7f64c681beba
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_6.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_7.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28201fcccd002fba93f431eef338ae2a3700b385
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_7.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_8.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63923c416c04d0550627aff03c3868309c9ce888
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_8.obj
@@ -0,0 +1,511 @@
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diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_9.obj b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe8d2a8707efaed40365e49c6f4ace31f4eeba04
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/mesh/phone_stand_010_collision_9.obj
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diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/phone_stand_010.xml b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/phone_stand_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..31e40df746a1d095a188e2d059b15d1eee700d96
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mjcf/phone_stand_010.xml
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="phone_stand_010">
+  <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_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/phone_stand_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/phone_stand_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/phone_stand_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/phone_stand_010_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/phone_stand_010_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/phone_stand_010_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/phone_stand_010_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/phone_stand_010_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/phone_stand_010_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/phone_stand_010_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/phone_stand_010_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/phone_stand_010_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/phone_stand_010_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/phone_stand_010_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/phone_stand_010_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/phone_stand_010_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/phone_stand_010_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/phone_stand_010_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/phone_stand_010_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/phone_stand_010_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/phone_stand_010_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/phone_stand_010_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/phone_stand_010_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/phone_stand_010_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/phone_stand_010_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/phone_stand_010_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="phone_stand_010">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/phone_stand_010.urdf b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/phone_stand_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c8f0f5523bfb6a743976df13040aef94080d0f78
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/phone_stand_010.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="phone_stand_010">
+   <link name="phone_stand_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/phone_stand_010.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_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.70</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>9d654babd3485be9ae8f936ca3444381</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>decorations</super_category>
+         <category>phone_stand</category>
+         <name>adjustable phone stand</name>
+         <color>green</color>
+         <shape>L-shape</shape>
+         <material>plastic</material>
+         <description>green adjustable phone stand with circular base and curved support</description>
+         <min_height>0.0980</min_height>
+         <max_height>0.0980</max_height>
+         <real_height>0.0980</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420200920</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>6</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":"Support arm, base, and hinge are over-merged; only minor merge fix is clear.","merge_groups":[{"colors":["Purple","Lime Green"],"target_part":"support frame","reason":"tiny fragments on arm/joint, not separate parts"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/phone_stand_010.usd b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/phone_stand_010.usd
new file mode 100644
index 0000000000000000000000000000000000000000..98c5c58201c0e9821c8144981888d02447725a9c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/phone_stand_010.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34d386e2e16cdb36e4649e2ec1cff079a71bfa2457210a7d59b6593586b763a0
+size 4884192
diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/textures/material_0.png b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e58db9853f21cf568daef1269a68fef30aebc185
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e023ce2071a25939bbb92925193ec9047aed3ec5a9d89e7ac59b12348a120a0
+size 11765115
diff --git a/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/video.mp4 b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..32432ee934706a61e45daba5a3e518c181f83ae6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2daf1caaf27f1a41a4e17f9415a07600b17f56c2b012a67d5e5d92affedd49a4
+size 423453