diff --git a/.gitattributes b/.gitattributes
index af9d7ce2719e6116c12cb9f4f2c3cfcd5b09dea5..7e459144c9c5009a3f2c0a2fc8ce61c32a7ec1f0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5283,5 +5283,5 @@ dataset/bedroom_supplies/storage/3c7f43b4ab46560c8cade9d0347fbff9/mesh/jewelry_b
 dataset/bedroom_supplies/storage/3d501d25fa575432a09b39ef0fa16f56/3d501d25fa575432a09b39ef0fa16f56.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/3d501d25fa575432a09b39ef0fa16f56/mesh/wicker_basket.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/3d501d25fa575432a09b39ef0fa16f56/mesh/wicker_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/05489dc573f45873b0ade0f311824bfd/mesh/tv_remote_013.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/05489dc573f45873b0ade0f311824bfd/tv_remote_013.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mesh/phone_stand_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/phone_stand_001.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mesh/material.mtl b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..72e464e5697349ef0be1bf53b9a7ee1367b94f4e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl phone_stand_001_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd phone_stand_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mesh/material_0.png b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2646b046c10586632f703886ece10b0a0557b013
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3beb67d00ded0966960b4745314fdfd1fc5cdae0f09b0887ab525da72ea51371
+size 9541647
diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mesh/phone_stand_001.glb b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mesh/phone_stand_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..79ed1ff47fbe03ee1fc470aa9c9d4aab14ef8cd2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mesh/phone_stand_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f222c3d3b60e373ce26c3faf3fcebb3f6d4fec6895c0265fa61b430f6ca3fda
+size 12762504
diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mesh/phone_stand_001.mtl b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mesh/phone_stand_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c1f14e9eadce20b90e88e6651b9e16edcad20e35
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mesh/phone_stand_001.mtl
@@ -0,0 +1,6 @@
+newmtl phone_stand_001_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/fd233b1dbc3a5c63b42c2241b3b6cebf/mesh/phone_stand_001.obj b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mesh/phone_stand_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c7bc46e6c32f084b92d54cefb512722a7e4b4a4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mesh/phone_stand_001.obj
@@ -0,0 +1,114040 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl phone_stand_001_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mesh/phone_stand_001_collision.obj b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mesh/phone_stand_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14c641d5723eaae538d2b898c72cca8da1475059
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mesh/phone_stand_001_collision.obj
@@ -0,0 +1,8181 @@
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index 0000000000000000000000000000000000000000..68cdefedda1523bcdf203980b6270e3d9b39e76f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001.obj
@@ -0,0 +1,114040 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl phone_stand_001_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision.obj b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5e36259a8217d428962fc2bd1b06a5273ad901c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision.obj
@@ -0,0 +1,8181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_0.obj b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9109fae07986d988e5321917ea6916c4e8a76d40
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_1.obj b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a07fb59f99bf488ebfec79f2d7bd5144bb18e06
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_1.obj
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diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_10.obj b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5abaf70f6622b6bdf90be35f4827011950f46a5e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_10.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_11.obj b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d2139048fb2e1631cbd3e7fcb09bb5f36a88501
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_11.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_12.obj b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cc3991be4bb5871622a27c45bfa00575a072e21
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_12.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_13.obj b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8051d765f4ddb42706d0589685fd2b1bb60e34fd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_13.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_14.obj b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd43b967bf75b076ec06f41f1babb745bad7154d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_14.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+v -0.00205048 0.01928157 -0.00200715
+v 0.00152248 0.01934553 -0.00148083
+v -0.00205048 0.01930308 0.00050344
+v 0.00152248 0.01930368 0.00050425
+v -0.00205048 0.01953322 -0.00072221
+v 0.00152248 0.01948599 -0.00072221
+v 0.00152248 0.01944714 -0.00022431
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+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
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+f 1 14 19
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+f 1 31 35
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+
diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_15.obj b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecd737438c47f0f396cd4c18684aec43c4795823
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_15.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.00280189 0.02709626 -0.01745729
+v -0.00283199 0.02684391 -0.01745729
+v -0.00328648 0.02835204 -0.01745729
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+v -0.00324018 0.02228904 -0.01040305
+v -0.00345470 0.02258511 -0.01212476
+v -0.00335130 0.02843483 -0.01745729
+v -0.00390379 0.02228902 -0.00607392
+v -0.00382354 0.02228902 -0.00629353
+v -0.00359282 0.02500793 -0.01745730
+v -0.00353263 0.02228904 -0.01181657
+v -0.00455119 0.02901106 -0.01745728
+v -0.00425643 0.02329313 -0.00713799
+v -0.00494087 0.02228902 -0.00518576
+v -0.00407818 0.02311499 -0.01497485
+v -0.00403728 0.02446482 -0.01745730
+v -0.00392694 0.02228905 -0.01302383
+v -0.00495322 0.02904484 -0.01745728
+v -0.00636222 0.02228902 -0.00506322
+v -0.00424717 0.02329316 -0.01568827
+v -0.00401105 0.02228905 -0.01322160
+v -0.00497328 0.02417075 -0.01745730
+v -0.00586375 0.02905345 -0.01745728
+v -0.00770487 0.02228902 -0.00506201
+v -0.00636222 0.02905411 -0.01745728
+v -0.00726967 0.02905477 -0.01745728
+v -0.00495322 0.02228905 -0.01387073
+v -0.00495322 0.02326600 -0.01574045
+v -0.00636222 0.02411710 -0.01745730
+v -0.00777123 0.02228902 -0.00506322
+v -0.00777123 0.02905477 -0.01745728
+v -0.00636222 0.02228905 -0.01398721
+v -0.00737847 0.02411644 -0.01745730
+v -0.00918024 0.02228902 -0.00515786
+v -0.00918024 0.02900112 -0.01745728
+v -0.00777123 0.02228905 -0.01398357
+v -0.00777123 0.02411710 -0.01745730
+v -0.00989632 0.02330240 -0.00712100
+v -0.00987780 0.02228902 -0.00554491
+v -0.01029371 0.02826130 -0.01745729
+v -0.01019494 0.02794669 -0.01640049
+v -0.01003521 0.02768706 -0.01542619
+v -0.00918024 0.02228905 -0.01388407
+v -0.00918024 0.02326269 -0.01574773
+v -0.00867559 0.02414690 -0.01745730
+v -0.01006454 0.02349117 -0.00784900
+v -0.01012704 0.02228902 -0.00581427
+v -0.01066950 0.02683729 -0.01745729
+v -0.01059388 0.02683729 -0.01640049
+v -0.01055607 0.02542056 -0.01354919
+v -0.01051826 0.02400249 -0.01070030
+v -0.01016253 0.02645578 -0.01354918
+v -0.01046656 0.02258510 -0.00784901
+v -0.01017874 0.02257250 -0.00655682
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+v -0.00989478 0.02328654 -0.01570162
+v -0.00915323 0.02416346 -0.01745730
+v -0.01027133 0.02228902 -0.00653013
+v -0.01043646 0.02533314 -0.01745730
+v -0.01064712 0.02542057 -0.01640050
+v -0.01068416 0.02542057 -0.01497484
+v -0.01066873 0.02400249 -0.01212475
+v -0.01065252 0.02258510 -0.00927466
+v -0.01050900 0.02228903 -0.00784901
+v -0.01010003 0.02228905 -0.01323373
+v -0.01006145 0.02310439 -0.01497485
+v -0.01010080 0.02445555 -0.01745730
+v -0.01001515 0.02441713 -0.01745730
+v -0.01046656 0.02400251 -0.01497484
+v -0.01049974 0.02258511 -0.01212476
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+v -0.01021037 0.02257916 -0.01344728
+v -0.01057304 0.02228904 -0.01068697
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+f 54 67 55
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+f 57 68 62
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+
diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_16.obj b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..820e0ed1f2e22e7bb85ff2ab2b8744a43f1c2572
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_16.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.00200664 0.00224111 0.03528965
+v 0.00200664 -0.00132537 0.03528964
+v 0.00200664 0.00239888 0.03495785
+v 0.00068487 0.00224111 0.03528965
+v -0.00266252 -0.00132537 0.03528964
+v 0.00200664 -0.00132536 0.03276412
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+v -0.00072420 0.00242149 0.03490991
+v -0.00213372 0.00224065 0.03528965
+v -0.00266252 0.00224020 0.03528965
+v -0.00266252 -0.00132536 0.03276306
+v -0.00266252 -0.00088820 0.03213514
+v 0.00200664 -0.00130908 0.03274122
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+v -0.00266252 0.00308380 0.03348419
+v -0.00266252 0.00242103 0.03490991
+v -0.00266252 0.00228405 0.03519804
+v -0.00266252 -0.00027652 0.03127608
+v 0.00200664 -0.00106767 0.03240303
+v 0.00200664 0.00306843 0.03348419
+v -0.00266252 0.00329311 0.03211704
+v -0.00266252 0.00016743 0.03083138
+v 0.00200664 -0.00052563 0.03168990
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+v -0.00266252 0.00295135 0.03064605
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+v -0.00266252 0.00228000 0.02989138
+v -0.00266252 0.00133832 0.02998830
+v 0.00200664 0.00133425 0.03041809
+v 0.00200664 0.00144094 0.03044207
+v -0.00266252 0.00210912 0.02984930
+v -0.00266252 0.00177774 0.02984930
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+f 26 30 31
+f 27 28 32
+f 27 32 33
+f 30 34 35
+f 30 35 31
+f 32 36 33
+f 33 36 35
+f 33 35 34
+
diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_17.obj b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..383365d5975876460addac67b0d8dca24f78c417
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_17.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00200664 0.00555452 0.02514261
+v -0.00266252 0.00557788 0.02562036
+v -0.00266252 0.00514174 0.02572980
+v -0.00266252 0.00481784 0.02572980
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+v 0.00200664 0.00792672 0.02326112
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+v -0.00266252 0.00399092 0.02208278
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+v -0.00266252 0.00842243 0.02061482
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+v -0.00266252 0.00459153 0.02084025
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+v -0.00266252 0.00778656 0.01929691
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+v -0.00266252 0.00507212 0.02012788
+v 0.00200664 0.00514313 0.02014951
+v 0.00200664 0.00701002 0.01950597
+v -0.00266252 0.00699903 0.01903543
+v -0.00266252 0.00534105 0.01980152
+v -0.00266252 0.00578543 0.01952300
+v 0.00200664 0.00585186 0.01970781
+v -0.00266252 0.00650837 0.01914355
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+f 1 5 9
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+f 17 24 18
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+f 40 44 41
+f 41 44 45
+f 41 45 46
+f 42 46 43
+f 43 46 47
+f 45 47 46
+
diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_18.obj b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..988e394f4509e9aaebf92a25e2ce0f074f5f9c04
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_18.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.00751840 0.03091178 -0.02091009
+v -0.00777056 0.03091111 -0.02091009
+v -0.00777056 0.03041953 -0.01989514
+v -0.00636204 0.03041953 -0.01989581
+v -0.00470031 0.03091111 -0.02091009
+v -0.00889104 0.03086921 -0.02091009
+v -0.00887100 0.03040689 -0.01991778
+v -0.00777056 0.02905521 -0.01745762
+v -0.00726940 0.02905521 -0.01745762
+v -0.00636204 0.02931199 -0.01791727
+v -0.00495352 0.03041886 -0.01989649
+v -0.00047159 0.03090912 -0.02091009
+v -0.00927192 0.03084925 -0.02091009
+v -0.00981001 0.03037296 -0.01997490
+v -0.00918013 0.02928538 -0.01795580
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diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_19.obj b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feec9c77f40157ff6fcd8db8480b117c6f7f848f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_19.obj
@@ -0,0 +1,184 @@
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diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_2.obj b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0267888817d80e6df66e52ff2673c482ad8803f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_2.obj
@@ -0,0 +1,724 @@
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diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_20.obj b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dbe49a28f51a32c49fbdf473734336a616c1b60
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_20.obj
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diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_21.obj b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4f9354626400cd6f2ae718006676f39dd1a2072
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_21.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_3.obj b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1edc435a78e09e85a2ee23ec9382a23577326d38
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_3.obj
@@ -0,0 +1,346 @@
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diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_4.obj b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..341075bc7e01fae60b85a52dcae062a07ad07cc8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_4.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_5.obj b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7997d40661df265bda008c96ed8ca573ec088888
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_5.obj
@@ -0,0 +1,538 @@
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diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_6.obj b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..742fa33b80e963bb90081b381333d09dc4ccfb9b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_6.obj
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diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_7.obj b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f26d11bb4bdb8b120c7442cc915d4c8a270361d3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_7.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_8.obj b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..485f4db13709313b1eefd9efee5b34d983ee49a9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_8.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_9.obj b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e977c46c837aa50b1976a8694b205f2fd3e11227
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/mesh/phone_stand_001_collision_9.obj
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diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/phone_stand_001.xml b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/phone_stand_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7d9f030f7b81b9b7b88c7b510d4623df31a847ec
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/mjcf/phone_stand_001.xml
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="phone_stand_001">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/phone_stand_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/phone_stand_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/phone_stand_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/phone_stand_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/phone_stand_001_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/phone_stand_001_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/phone_stand_001_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/phone_stand_001_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/phone_stand_001_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/phone_stand_001_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/phone_stand_001_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/phone_stand_001_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/phone_stand_001_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/phone_stand_001_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/phone_stand_001_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/phone_stand_001_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/phone_stand_001_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/phone_stand_001_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/phone_stand_001_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/phone_stand_001_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/phone_stand_001_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/phone_stand_001_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/phone_stand_001_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="phone_stand_001">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/phone_stand_001.urdf b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/phone_stand_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..966d69d2288a71d10968c440550a00550316cf38
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/phone_stand_001.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="phone_stand_001">
+   <link name="phone_stand_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/phone_stand_001.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/phone_stand_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>fd233b1dbc3a5c63b42c2241b3b6cebf</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>decorations</super_category>
+         <category>phone_stand</category>
+         <name>adjustable phone stand</name>
+         <color>gray</color>
+         <shape>L-shape</shape>
+         <material>plastic</material>
+         <description>foldable adjustable phone stand with a stable base and angled support arm</description>
+         <min_height>0.0864</min_height>
+         <max_height>0.0864</max_height>
+         <real_height>0.0864</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420200251</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>15</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/fd233b1dbc3a5c63b42c2241b3b6cebf/phone_stand_001.usd b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/phone_stand_001.usd
new file mode 100644
index 0000000000000000000000000000000000000000..bc7b33067f63c5335df4589d3c7b12a3fb2eec8a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/phone_stand_001.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fc2bb5284f1ca78976ff6979b6f85535f2ad5d2d989a7043c0570deb79aaf9b
+size 4844720
diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/textures/material_0.png b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2646b046c10586632f703886ece10b0a0557b013
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3beb67d00ded0966960b4745314fdfd1fc5cdae0f09b0887ab525da72ea51371
+size 9541647
diff --git a/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/video.mp4 b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..39760a036ed0321a43b8b01f0cea0eb3101e2479
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/fd233b1dbc3a5c63b42c2241b3b6cebf/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0ad3f6cc8d22b8c88c7a5ee0e54704ff1420aca8df1f36e7de27f50bec7b4b8
+size 402475