diff --git a/.gitattributes b/.gitattributes
index 76525bdf5397c1a618f04690e104135d45c4c006..9d867fc4a3bb84e597b08fc79b2194f7d1a145c6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2867,6 +2867,6 @@ dataset/desktop_supplies/decorations/0f6c25c786375b469ba227bc449305b5/0f6c25c786
 dataset/desktop_supplies/decorations/0f6c25c786375b469ba227bc449305b5/mesh/glasses.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/0f6c25c786375b469ba227bc449305b5/mesh/glasses_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/0f02d7fb5cd655719085b8a60f0aae38.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/13b12950ed6459a5b5c853902625d1c8/13b12950ed6459a5b5c853902625d1c8.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/13b12950ed6459a5b5c853902625d1c8/mesh/teacup.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/13b12950ed6459a5b5c853902625d1c8/mesh/teacup_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/137c1242dcee51cb9c616fddfa30c483.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/137c1242dcee51cb9c616fddfa30c483.urdf b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/137c1242dcee51cb9c616fddfa30c483.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b8585de1202054e5daf37caa2f68eb4339767096
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/137c1242dcee51cb9c616fddfa30c483.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="teacup">
+   <link name="teacup">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/teacup.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/teacup_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.155493</scale>
+         <version>v0.1.7</version>
+         <category>teacup</category>
+         <description>elegant floral teacup with golden rim and ornate handle</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120045005</generate_time>
+         <gs_model>mesh/teacup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.812367916107178</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/137c1242dcee51cb9c616fddfa30c483.usd b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/137c1242dcee51cb9c616fddfa30c483.usd
new file mode 100644
index 0000000000000000000000000000000000000000..278cc5316594f872e53ca9771f5310742237b389
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/137c1242dcee51cb9c616fddfa30c483.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa3231c592aec88b57b2e28d2ec1db335135d2cbad3dfcba5e4c5ad11219f8f8
+size 667730
diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/material.mtl b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/material_0.png b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8a270aa9942e6aab77d27955105920f0d0d5aaa
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dc7ba8c321c98bf69b92f2e375dd10bd982f0bdf1c6acb3a5cf2baf34d2beb7
+size 2491137
diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacup.glb b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3068708a41579ff504ed8bce20ece303ed06ec2e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7f64ba638e78c7a5399169b0de93e273fe4b470cbbdb65c79e26977f1e64c8d
+size 2944864
diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacup.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14338e03a926af1d11b1f3c85d981cb88699ba4c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacup.obj
@@ -0,0 +1,41454 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacup_collision.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c45b8e0feb4b8f303584e77b331be0ed4fa84be2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacup_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/137c1242dcee51cb9c616fddfa30c483.xml b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/137c1242dcee51cb9c616fddfa30c483.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="teacup">
+  <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/teacup.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/teacup_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/teacup_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/teacup_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/teacup_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/teacup_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/teacup_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/teacup_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/teacup_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/teacup_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/teacup_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/teacup_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/teacup_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/teacup_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/teacup_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/teacup_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/teacup_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/teacup_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/teacup_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/teacup_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/teacup_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/teacup_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/teacup_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/teacup_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/teacup_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/teacup_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/teacup_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/teacup_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/teacup_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/teacup_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/teacup_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/teacup_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/teacup_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/teacup_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/teacup_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/teacup_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/teacup_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/teacup_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/teacup_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/teacup_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/teacup_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/teacup_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/teacup_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/teacup_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/teacup_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/teacup_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/teacup_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/teacup_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/teacup_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/teacup_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/teacup_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/teacup_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/teacup_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/teacup_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/teacup_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/teacup_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/teacup_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/teacup_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/teacup_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/teacup_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/teacup_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/teacup_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/teacup_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/teacup_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/teacup_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/teacup_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/teacup_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/teacup_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/teacup_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/teacup_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="teacup">
+      <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" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_68" 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/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8a270aa9942e6aab77d27955105920f0d0d5aaa
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dc7ba8c321c98bf69b92f2e375dd10bd982f0bdf1c6acb3a5cf2baf34d2beb7
+size 2491137
diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8eebddea2e788d6873605e03106ee00355f89b8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup.obj
@@ -0,0 +1,41454 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.004088 0.073151 0.059847
+v 0.002793 0.071606 0.060383
+v 0.004636 0.073738 0.059691
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+v 0.013242 -0.006612 -0.044905
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+v 0.017684 -0.022885 -0.044344
+v 0.003025 0.003222 -0.044890
+v 0.013628 -0.004659 -0.044807
+v 0.009265 -0.000318 -0.044811
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+v 0.017528 -0.028893 -0.043893
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..154c9e84e2f4d82bee910bc594bfbeff710b80c5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision.obj
@@ -0,0 +1,20228 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_0.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1126c1d0f4ba560e1691f77d61ffffc0e9207c20
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_0.obj
@@ -0,0 +1,679 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_1.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8253fba5d19c500be0ee6ec53697a63dfc34901f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_1.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_10.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9408d7ec702d21fdd5b574d1adb3440c19e58a0a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_10.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_11.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd6bc1c8e5dad2f18c74c452f1ff64f24d535f8d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_11.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_12.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ada033fc4555c97ba6398538124910282b1b3cfd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_12.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_13.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c317f7ed4be3075deb5fd047fb4d49d0c1d443c4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_13.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_14.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e83bea947afa4f42c62f8bb2fa3dc14ceccd284e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_14.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_15.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5484a3f3c950f61ad69afe6d43bc2e85fa063c7c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_15.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_16.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fb0b1de8832200f22171cfb92f6bb071ffa8b95
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_16.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_17.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48e058e320144742a153629694f055f786a9ea87
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_17.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_18.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..431f6f482b66647785691e2c06acace96468f906
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_18.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_19.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7b5d26c8df397fa48e3e85d377e8b2262561826
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_19.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_2.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..269d65731741b796258aceef18fb8af63f1f7c2b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_2.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
+v -0.02409660 -0.07227204 0.04745474
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_20.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..541e07a8013315cf703f3158810305cec5c3c95c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_20.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_21.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f39c5fa4b9acb0b9413d70d3ef6b54aefac3731
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_21.obj
@@ -0,0 +1,628 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_22.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a943cc52a4cae7304d363ec41786b8110d830359
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_22.obj
@@ -0,0 +1,556 @@
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_23.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8e43c85d52bcd74dc514cfcb023ee38d8ea099e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_23.obj
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_24.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63f6c6e8df055ef11328bf095b7f634f3c5597e3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_24.obj
@@ -0,0 +1,229 @@
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_25.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3c2a62c940f11c2bc1d8560fdc807a6635ae63f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_25.obj
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_26.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..236dbc083874840860900391501677cbd0705f7b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_26.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_27.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66d7a983a588e2f33a0e0197bfc2ec4330d06238
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_27.obj
@@ -0,0 +1,235 @@
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_28.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f1f82468cb7fef1b1133272e255dfcea8f9902f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_28.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_29.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a855d0a63e2a098fecb7c48bed9ad551087c4adf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_29.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_3.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b345539a1100d98691df1b234bddf0582852a674
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_3.obj
@@ -0,0 +1,190 @@
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_30.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d5a68e372dcc9645dd3dd1535fd5407b2175289
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_30.obj
@@ -0,0 +1,517 @@
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_31.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..168b7b9f99513b95a8d19c674049e27c49b5ecb9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_31.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_32.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc70a170ff198768e47548428b89ab5a15a492bc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_32.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_33.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f243b0c72b634dfafbf4b490a2ed96b1294d0327
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_33.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_34.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..430e12b440be1588698d32943ebfea3070519013
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_34.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_35.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..366985f4049f8e19eab3d229a7f6db28e164f621
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_35.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_36.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83c0eb82965a9e3e59390fc7236e222098300348
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_36.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_37.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f5a0d64f4ca6679146cc571c7059248174fa1af
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_37.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_38.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efc144b62e98502834d236f2ddd749b0823d7d00
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_38.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.01938278 0.00434194 -0.05723132
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+v 0.01938278 0.01239425 -0.05723129
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+
diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_39.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f963b1bb914df6243ab3bc21453a03e48ed93a44
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_39.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_4.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f35f01c96400b7c8e3d815edd94d14d60870f3d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_4.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v 0.00108582 -0.07796784 0.04745496
+v -0.00109571 -0.07796486 0.04745496
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_40.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d484678516caed7504824004770121d6c3c9eaa
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_40.obj
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_41.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8955b0b2a10f8b3e61c7927573f45ff3c207b029
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_41.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_42.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..814ecea4cb5236ce10a4fde5b2971f30be7a602e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_42.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_43.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd429f9097c47d2fff41a8b29cc2053c49861fbb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_43.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_44.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13e31fb35699aa0771c15a8b545c4ee7096c7830
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_44.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.02747821 -0.02254324 -0.06097343
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+
diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_45.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a45592bf33ba9934d4b9a9b499c3ee52bd1068ed
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_45.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_46.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54b69066210c8a793a2229c0ba68ad59e39d05ab
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_46.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_47.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dd3393c103064541003b9e9db6d2f880b016141
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_47.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00141126 0.01683688 -0.04301287
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+v 0.00004883 0.02043607 -0.03935213
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+
diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_48.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f37dda5964f5cf94702506d557e5ae9027495e5b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_48.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.01165889 0.03099371 -0.00206516
+v -0.01126659 0.03114489 -0.00206516
+v -0.01165889 0.02599307 -0.00206517
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_49.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6477c13cc5dc188665179e7d07467675739444e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_49.obj
@@ -0,0 +1,16 @@
+# https://github.com/mikedh/trimesh
+v -0.01500038 -0.02667942 -0.04284173
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+v -0.01500038 -0.03819480 -0.03719510
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+f 1 2 3
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+
diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_5.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ed28ed1a5b0b3cdddc4e150dda8199ef85ae2b8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_5.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_50.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a417fc9e34644cef47721645194195c7ad5a3594
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_50.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00146676 0.02705039 -0.04263764
+v 0.00005266 0.02567081 -0.04173990
+v -0.00034822 0.02705038 -0.04213310
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_51.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9543d1abd270007058056e1a96e23354a0e7b9c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_51.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_52.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43d06e84a3c57a497cab8d0f9d211e90c1df8574
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_52.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_53.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..674f02fe2562acecc614ad22df7ba035c5b299df
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_53.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_54.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..408e3d191ddf8519ead158f31a55dbaf780784ea
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_54.obj
@@ -0,0 +1,175 @@
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_55.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..590b5ec394af5edfdf42d1f30456a91514ecf9c8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_55.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_56.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26771badd55dd923c94b323cab2fd826cc939387
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_56.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_57.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99b549269aafa7993882def6262b97c11777952f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_57.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_58.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9152a5bffea4b90f4b7ad721b6011061d1f724a7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_58.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.00146753 0.03520941 -0.00777426
+v 0.00316934 0.03991862 -0.00766621
+v 0.00146753 0.03991862 -0.00716481
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+
diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_59.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57ec2bafa754ea4e94981693c0ad7e75579e59b2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_59.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.02042871 -0.02824517 -0.04112226
+v 0.00752905 -0.03819598 -0.04112230
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+
diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_6.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d29f038d9cf0dc48f6c40b3e83ec41607f144d2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_6.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v -0.05876872 -0.00826420 0.04608096
+v -0.05876872 -0.00826420 0.04656596
+v -0.05873794 -0.00753126 0.04612990
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_60.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb8fa286766ed0a7e3cb49f41117494af54f83d3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_60.obj
@@ -0,0 +1,220 @@
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_61.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bff5307eabea39f770c0267809465cfe2528870
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_61.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_62.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53ade523822ab32c15646eea9c4db147295ed8bb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_62.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_63.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8cb25ab18d1b08215005da5eacd403d2854515f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_63.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_64.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a925fd3dd61a12c3e923a1e1d196a5cb284d3698
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_64.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_65.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ed72cdc8c2efa4331fbb4e17bad0b39c26877fa
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_65.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.00112362 0.06613190 0.05373994
+v -0.00079097 0.06613190 0.05338289
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_66.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf048975036425723e49547389ebf4dc2287e6e4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_66.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_67.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71657bf33586d10758889e06a3d89c7119e67125
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_67.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_68.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec69fb278b595440f51fa765851dabc5809e35c2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_68.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.01165889 0.03930577 0.04368737
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_7.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a5e84f5f5a35794cf4efbd4ea17ef910c5671a9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_7.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_8.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..578f27da3e5344cfaebe9b6e12bd582eb166900d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_8.obj
@@ -0,0 +1,493 @@
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diff --git a/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_9.obj b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bfd19390e8a43abeb16b5fa13ca054a2be64e77
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mjcf/mesh/teacup_collision_9.obj
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