diff --git a/.gitattributes b/.gitattributes
index c2b30f4bbe162587f0a2f91302f1ec2fd51ade75..af91bb34f38adc569ff6236547830978a3fa1c13 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2878,4 +2878,8 @@ dataset/desktop_supplies/decorations/2ea2134d87205a2b992e50cc6c94aac8/mesh/glass
 dataset/desktop_supplies/decorations/2ea2134d87205a2b992e50cc6c94aac8/mesh/glasses_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/269ab8f0fc86508ebedb52e7ee24eb82/mesh/phone_stand_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/269ab8f0fc86508ebedb52e7ee24eb82/phone_stand_004.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/440e5b0b92775001b0581a82098178ef/440e5b0b92775001b0581a82098178ef.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/43f2f23186ea5518a5826169d1dfd10c/43f2f23186ea5518a5826169d1dfd10c.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/43f2f23186ea5518a5826169d1dfd10c/mesh/mouse_pad.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/43f2f23186ea5518a5826169d1dfd10c/mesh/mouse_pad_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mesh/vase_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/vase_002.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mesh/material.mtl b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dfdcd5a9ba58269c021e04edd34a1b25f9348f98
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl vase_002_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 vase_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mesh/material_0.png b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6a1a998c98243c785d166478675a193b3fc3210
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fe01c105f5ebf40ead951c481b2b4b938d7e1008db572662ad7f347392e1857
+size 7399167
diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mesh/vase_002.glb b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mesh/vase_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ba437a3cb7b501363f9e062582538c3a65c4271b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mesh/vase_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da5a5cabb86e7894661d2ecffd55447216e3cc01529e8094bfa49af5caea8bac
+size 10707504
diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mesh/vase_002.mtl b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mesh/vase_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..73fcaed24260da80190e72a5ab9475b4ccbdc51c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mesh/vase_002.mtl
@@ -0,0 +1,6 @@
+newmtl vase_002_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/2fcc8db6f2bd533eaba515390e0a0986/mesh/vase_002.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mesh/vase_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..345e7ee965d2073d469ca19d25a9841d706a3fae
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mesh/vase_002.obj
@@ -0,0 +1,104782 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl vase_002_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mesh/vase_002_collision.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mesh/vase_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94d0720c32588fc5a3be58ddbbe64c238c27e9bd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mesh/vase_002_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mesh/vase_002_geometry_Looks_material_0.png b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mesh/vase_002_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 7399167
diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/material_0.png
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+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002.obj
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+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002.obj
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eb5cd1e8e2ca28e5878b5926e55fe480085c75b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision.obj
@@ -0,0 +1,12980 @@
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_0.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1708e87409f357f3b9a054d2811a9ee88592f9a3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_0.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_1.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94915099a8ca85a4da8f5ca65c6842c69982e6eb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_1.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_10.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e6612eafeb3fec164649bf08fcb471c9b37e4e5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_10.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.01797742 0.00085598 -0.01688363
+v 0.01796705 0.00003511 -0.01682563
+v 0.01797612 0.00003511 -0.01688363
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+
diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_11.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20de03e7273d05ac415b55bc5c009156cf6bd160
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_11.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.00613021 0.00253334 0.04414198
+v 0.00613021 0.00833458 0.04414200
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+
diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_12.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a2c2807643656244669863b721485634538a1a5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_12.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.00613934 0.00253622 0.04414331
+v 0.00003958 0.00654327 0.04414332
+v 0.00003958 0.00656085 0.04432928
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_13.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..957b5f7495c7979fa1e515c8181e242d4710229d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_13.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_14.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5369608ec481cf44cb3398628d3be3e416c9860
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_14.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_15.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dcac81fd80773117ccce451f033137f9978a333
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_15.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v -0.00614369 -0.01305889 0.05637348
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+
diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_16.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..126e76c3f54372b1f876da781290fe15c6aed0f3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_16.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.00087138 -0.01792239 -0.01688370
+v -0.00249698 -0.01776988 -0.01688370
+v -0.00087138 -0.01359642 -0.01688368
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+v -0.00416812 -0.01745034 -0.01688369
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+
diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_17.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de43bd932ce49d90a67968019cc75c5df271f063
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_17.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.01451526 0.00002770 0.05621380
+v 0.01415777 0.00002770 0.05681799
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+
diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_18.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2117dfb881702c2f7dfc63a87fb4565f2e432bdc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_18.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v 0.00664575 0.00002775 0.04414330
+v 0.01038506 0.00002775 0.04414330
+v 0.00681404 0.00002774 0.04588696
+v 0.00613021 0.00338623 0.04764266
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+v 0.00613021 0.00254022 0.04418741
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_19.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..973d4ae4859e53af8a36ea7d65159daa85604961
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_19.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_2.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0be36a0e1b5c55415d748086a90f9085f4ca31ca
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_2.obj
@@ -0,0 +1,220 @@
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_20.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e199a5072c1d8fdd45ef0a9c2eabfc9f8993466
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_20.obj
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_21.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09aa1904bb24c8c9b1f09e395ccfc5ef7c15deee
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_21.obj
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_22.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d6e6664884694d60966e42eab0f5ac98490e651
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_22.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_23.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f9d1c36f09d080f26e3aa51162938f6b8816371
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_23.obj
@@ -0,0 +1,541 @@
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_24.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..986faebe8c9883e9727c63d3128509a88fbe9b43
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_24.obj
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_25.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf88e485891983c9721d7851ded118fcb912b77d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_25.obj
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_26.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ec9f5466d2cfc858c14040e8c9ae870976d4387
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_26.obj
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_27.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..600819a3997ad40fbfeeee94c89c643584bf0e3a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_27.obj
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_28.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a912242c480192e9d4d3765ce4323e01cf551cb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_28.obj
@@ -0,0 +1,352 @@
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_29.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..782d7e459feda8f00986ea9bd113cdf206ed42ec
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_29.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_3.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0526426bef5ac2410be9a250db62fe05e3f03acb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_3.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_30.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dcf34a242a1459cc0dc42ec6512bfd26d6a6ad9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_30.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+v -0.00954396 -0.01708609 -0.02841240
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_31.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..456f76a5fd7142d527873e6815969ace7dd457f2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_31.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
+v 0.00973452 0.00960427 -0.01688449
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_32.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c0dc6b08367222460d1ade6568da7674297fd72
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_32.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_33.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..999fa2a6bd16d5ba91c100a87c0a90b56c4df866
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_33.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_34.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3db8b7c75da083977e377eb2616943c9d2f900c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_34.obj
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_35.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f77e2e0506361b37ca7d2cc91fde15ea8a8dcee1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_35.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_36.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad3310a8eee4e478b647186cae40adae75a14637
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_36.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_37.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fbdfefcfd888cea91bb382cd5526ad1722a49bb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_37.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_38.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..976f5f966921ce01d66e94975ed362a5291b19a0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_38.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_39.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..381783c874c3a1a595eab6da151424dc987f674b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_39.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_4.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2bab56f20340cecb070ffedf7750f311dc4952a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_4.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.01794854 0.00003455 -0.01688363
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+v -0.01361835 0.00003455 -0.01688363
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_40.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6720d43c0836a76f6518e655933058a1b5476f1e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_40.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_41.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68888ede1d5a3f3887a4491a55bf27a6b8e815c5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_41.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_5.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aac7c9f334587210d657623e351eef5141aead5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_5.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.01703617 0.00577444 -0.01688361
+v 0.01701075 0.00586022 -0.01688361
+v 0.01697968 0.00577444 -0.01655491
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+
diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_6.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b01f64a095f524c08d0cc88bc9cb5ec23694fab9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_6.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00618446 0.00426304 0.02262316
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+
diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_7.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8e5366a5967992ea5cfa4f48904a8f60118cc7b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_7.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.00000822 -0.01444383 0.05621496
+v -0.00082568 -0.01444265 0.05621496
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diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_8.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a94b4e7bd8a57bc906855f5f9f27f9654034340
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_8.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.00082514 -0.01792666 -0.01688370
+v -0.00087138 -0.01792165 -0.01688370
+v 0.00084625 -0.01792415 -0.01688370
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+v -0.00082514 -0.01120556 0.02262310
+v -0.00087138 -0.01359639 -0.01688368
+v -0.00087138 -0.01119805 0.02262310
+v 0.00251702 -0.01776525 -0.01688370
+v 0.00251702 -0.01096408 0.02262310
+v 0.00542701 -0.01246409 -0.01688368
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+v 0.00542701 -0.00577426 0.01877531
+v 0.00542701 -0.00605325 0.01725939
+v 0.00542701 -0.00737196 0.01015930
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+v -0.00087138 -0.00736074 0.02262311
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+v 0.00423651 -0.01043985 0.02262310
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+v 0.00542701 -0.00514493 0.02262312
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+v -0.00087138 -0.01112790 -0.00220398
+v -0.00087138 -0.01056113 0.00123391
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+v -0.00087138 -0.00744582 0.02188835
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+v -0.00087138 -0.00814770 0.01656716
+v -0.00087138 -0.00812518 0.01672571
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+v -0.00087138 -0.00745082 0.02184582
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+
diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_9.obj b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef80a068c3afd67b641eb37c0328f9546a36a812
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/mesh/vase_002_collision_9.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.00542701 -0.01708893 -0.01688369
+v 0.00582995 -0.01696992 -0.01688369
+v 0.00542701 -0.01696154 -0.01613733
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+v 0.00667023 -0.01667995 -0.01688369
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+v 0.01207674 0.00003284 -0.00735885
+v 0.01221556 0.00003284 -0.00820575
+v 0.01264061 0.00003285 -0.01079674
+v 0.01363936 0.00003287 -0.01688363
+v 0.00542701 -0.00905188 0.00122232
+v 0.00752893 0.00003273 0.02262314
+v 0.00753876 0.00003273 0.02253807
+v 0.00762229 0.00003273 0.02184585
+v 0.00784465 0.00003274 0.02012883
+v 0.00829550 0.00003275 0.01675668
+v 0.00852768 0.00003275 0.01512474
+v 0.00932250 0.00003277 0.00981902
+v 0.00945272 0.00003278 0.00897598
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+v 0.00985075 -0.01502727 -0.01688369
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+v 0.00542701 -0.00737243 0.01015930
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+v 0.01133597 0.00003273 0.02262314
+v 0.00809894 -0.01598938 -0.01688369
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+v 0.01140476 -0.01386570 -0.01688368
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+v 0.00801663 -0.00799599 0.02262311
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+v 0.01322045 -0.01216610 -0.01688367
+v 0.01352880 -0.01184763 -0.01688367
+v 0.01347474 -0.01178561 -0.01639641
+v 0.01731004 -0.00480783 -0.01688365
+v 0.01032985 -0.00471913 0.02262312
+v 0.01671546 -0.00664656 -0.01684885
+v 0.01700906 -0.00581854 -0.01688365
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+v 0.01390471 -0.01136993 -0.01688367
+v 0.01013452 -0.00516666 0.02262312
+v 0.01633832 -0.00748463 -0.01688366
+v 0.01670317 -0.00668678 -0.01688365
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+v 0.00924142 -0.00653775 0.02262312
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+v 0.00965910 -0.00594104 0.02262312
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+
diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/vase_002.xml b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/vase_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fb63413dcb1a6fae054ed01d01e4a22949f1d76b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mjcf/vase_002.xml
@@ -0,0 +1,98 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="vase_002">
+  <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/vase_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/vase_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/vase_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/vase_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/vase_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/vase_002_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/vase_002_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/vase_002_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/vase_002_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/vase_002_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/vase_002_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/vase_002_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/vase_002_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/vase_002_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/vase_002_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/vase_002_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/vase_002_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/vase_002_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/vase_002_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/vase_002_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/vase_002_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/vase_002_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/vase_002_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/vase_002_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/vase_002_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/vase_002_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/vase_002_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/vase_002_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/vase_002_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/vase_002_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/vase_002_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/vase_002_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/vase_002_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/vase_002_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/vase_002_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/vase_002_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/vase_002_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/vase_002_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/vase_002_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/vase_002_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/vase_002_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/vase_002_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/vase_002_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="vase_002">
+      <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" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" 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/2fcc8db6f2bd533eaba515390e0a0986/textures/material_0.png b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fe01c105f5ebf40ead951c481b2b4b938d7e1008db572662ad7f347392e1857
+size 7399167
diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/vase_002.urdf b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/vase_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fc81db429b0ae7218d9b78e702865d5e418232f5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/vase_002.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="vase_002">
+   <link name="vase_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/vase_002.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/vase_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</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>2fcc8db6f2bd533eaba515390e0a0986</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>decorations</super_category>
+         <category>vase</category>
+         <name>bronze vase</name>
+         <color>brown</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>tall bronze vase with a flared top and circular base</description>
+         <min_height>0.1043</min_height>
+         <max_height>0.1043</max_height>
+         <real_height>0.1043</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420201028</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/vase_002.usd b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/vase_002.usd
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0701af33fdd071afc871d9ff3f1808ea7172020398a66e1eb118b3365f92918
+size 4884019
diff --git a/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/video.mp4 b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/video.mp4
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--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59079d3447018a256c49046d105b867d418eb090bfdf3cb9f99e1f127f95cfb7
+size 88823