diff --git a/.gitattributes b/.gitattributes
index 214d8bae63e2e1966973a782a6ee08079261d2e8..f0303b5c47ebedc52a8ad95b3492d9652030d16e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2931,5 +2931,4 @@ dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/therm
 dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/thermos_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mesh/mini_sculpture_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mini_sculpture_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/9de6b8001aee5acdb7d7641e666e80a3/mesh/mini_sculpture_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/9de6b8001aee5acdb7d7641e666e80a3/mini_sculpture_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/a7c5fe8ac03251f9832ddf9ff91e6712.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/a7c5fe8ac03251f9832ddf9ff91e6712.urdf b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/a7c5fe8ac03251f9832ddf9ff91e6712.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..38d4f5c3853084d9e3203c3fd99451789e58d17e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/a7c5fe8ac03251f9832ddf9ff91e6712.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="decoration_93">
+   <link name="decoration_93">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/decoration_93.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/decoration_93_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</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>0.175000</scale>
+         <version>v0.1.5</version>
+         <category>decoration</category>
+         <description>metallic maple leaf with detailed veins and symmetrical design</description>
+         <min_height>0.15</min_height>
+         <max_height>0.2</max_height>
+         <real_height>0.175</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20251014214123</generate_time>
+         <gs_model>mesh/decoration_93_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.260408163070679</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>8</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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/a7c5fe8ac03251f9832ddf9ff91e6712.usd b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/a7c5fe8ac03251f9832ddf9ff91e6712.usd
new file mode 100644
index 0000000000000000000000000000000000000000..cf005c141c6718920e5149f9dffa75a8244db9de
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/a7c5fe8ac03251f9832ddf9ff91e6712.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52058a9a41f642f49f84b61b6ebdf34958f3c8789f698604dd28821350412617
+size 609089
diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mesh/decoration_93.glb b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mesh/decoration_93.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2e922fd108962b5d115fd481d85d4437592dd54e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mesh/decoration_93.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36729b186101e8f50eee2a8418afd7c795d202174bc31c419258fada292a22ab
+size 3081916
diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mesh/decoration_93.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mesh/decoration_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a614458198b134052f1c711d43209e27c15932b6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mesh/decoration_93.obj
@@ -0,0 +1,39900 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mesh/decoration_93_collision.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mesh/decoration_93_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2a13cbb4b57ce00f6d5b8dccfb8f8104e4c95a7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mesh/decoration_93_collision.obj
@@ -0,0 +1,5182 @@
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diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mesh/decoration_93_gs.ply b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mesh/decoration_93_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..af387d14bf0c2a8d63358812f5bcd4ca0e792042
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mesh/decoration_93_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:277a19b98cf66b8c29ff2016c1de24087e6507b677bcbb51c5789a4de65b6087
+size 8205930
diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mesh/material.mtl b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/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/a7c5fe8ac03251f9832ddf9ff91e6712/mesh/material_0.png b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..94b102724974c1d4689f73d706894afd3ccc731e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20ce09649b3f46c2f801c572ffd524377b85ad1c8194df0ce9ccb1549a095f01
+size 2648915
diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/a7c5fe8ac03251f9832ddf9ff91e6712.xml b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/a7c5fe8ac03251f9832ddf9ff91e6712.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5a524a8ec6b9009b33bf93d13b857af9832e85f8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/a7c5fe8ac03251f9832ddf9ff91e6712.xml
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="decoration_93">
+  <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/decoration_93.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/decoration_93_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/decoration_93_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/decoration_93_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/decoration_93_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/decoration_93_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/decoration_93_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/decoration_93_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/decoration_93_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/decoration_93_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/decoration_93_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/decoration_93_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/decoration_93_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/decoration_93_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/decoration_93_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/decoration_93_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/decoration_93_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/decoration_93_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/decoration_93_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/decoration_93_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/decoration_93_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/decoration_93_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/decoration_93_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/decoration_93_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/decoration_93_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/decoration_93_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/decoration_93_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="decoration_93">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcd6ff6ad7faaef8972ff732c99cebe6f47b27ce
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93.obj
@@ -0,0 +1,39900 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d20a2d77a353eee23c21c99b2cceec4b40a12f97
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision.obj
@@ -0,0 +1,5182 @@
+# https://github.com/mikedh/trimesh
+
+o decoration_93_collision.obj
+v -0.00163048 -0.00140021 0.05093838
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diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_0.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1618f6d45c8e2c6bfc4bed98e8617076b702ba00
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_0.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_1.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3f2a22779cffe13735766688c53c473a8f24adb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_1.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_10.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..772590cb8c213a86975c6cb00fbaa1333e6fa9f0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_10.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_11.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5faf94e4d3087c308048f665ff4ae0c3e10489d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_11.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_12.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6447e4e327041ca52704fcb90010778bd15f518f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_12.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.00148811 -0.03331739 0.00396926
+v -0.00148811 -0.03331740 0.00432847
+v 0.00152071 -0.03331739 0.00396926
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+v -0.00148574 -0.03331741 0.00724152
+v 0.00152071 -0.03331740 0.00435913
+v 0.00152545 -0.06239197 0.01015446
+v 0.00152071 -0.03334740 0.00396926
+v -0.00149256 -0.04170396 0.00396923
+v -0.00150472 -0.06239197 0.01015446
+v -0.00148129 -0.03331742 0.01015457
+v 0.00151448 -0.03331741 0.00727218
+v 0.00148393 -0.05658309 0.01888487
+v 0.00144863 -0.05948755 0.01888486
+v 0.00138575 -0.06529642 0.01015445
+v 0.00141660 -0.05658305 0.00724143
+v 0.00150232 -0.05367860 0.00724144
+v 0.00151211 -0.04206411 0.00432844
+v 0.00151685 -0.03915964 0.00396924
+v 0.00147800 -0.03331745 0.01888496
+v -0.00143561 -0.04460841 0.00396922
+v -0.00149108 -0.05367860 0.00724144
+v -0.00140743 -0.05658305 0.00724143
+v -0.00138163 -0.06529642 0.01015445
+v -0.00142701 -0.05948755 0.01888486
+v -0.00145519 -0.05658309 0.01888487
+v -0.00145400 -0.03331745 0.01888496
+v -0.00147269 -0.03331743 0.01306616
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+v 0.00148986 -0.04206410 0.00396923
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+v -0.00075163 -0.06549651 0.01328653
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+v 0.00057511 -0.05329843 0.00396918
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+v 0.00124872 -0.04787301 0.00396920
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+v -0.00101531 -0.05030061 0.00396920
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+v -0.00005934 -0.06137489 0.00573305
+v -0.00095510 -0.05077412 0.00396919
+v -0.00059858 -0.05307501 0.00396919
+v -0.00054370 -0.05329843 0.00396918
+f 1 2 5
+f 1 5 11
+f 1 11 28
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+f 1 20 12
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+f 1 6 3
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+f 41 58 55
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+f 48 59 50
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+f 55 58 59
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+
diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_13.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..428b29d6294f16c3623679ef0362a5aac39decd8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_13.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00143477 0.05311813 0.03908072
+v 0.00142443 0.05311813 0.03908072
+v -0.00143646 0.05087829 0.03908071
+v -0.00143505 0.05311813 0.03928708
+v 0.00142555 0.05311812 0.04153198
+v 0.00142246 0.04506930 0.04511263
+v 0.00141432 0.03926220 0.03908066
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+v -0.00143533 0.04817951 0.03908070
+v -0.00144179 0.04216755 0.04802540
+v 0.00142723 0.05311810 0.04735755
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+v 0.00141769 0.04506929 0.04802542
+v 0.00141769 0.04216756 0.04511261
+v 0.00140954 0.03444060 0.03928701
+v 0.00141207 0.03635863 0.03928701
+v 0.00141207 0.03635863 0.03908065
+v -0.00143646 0.05311811 0.04286776
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+v -0.00142803 0.03444060 0.03908065
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+v -0.00117472 0.04216754 0.05093818
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+v -0.00143589 0.05311810 0.04511266
+v 0.00142358 0.05311809 0.04802545
+v 0.00113348 0.04216754 0.05093818
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+v -0.00142073 0.03635861 0.04219980
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+v -0.00043977 0.04216753 0.05320121
+v -0.00045437 0.04455182 0.05332531
+v -0.00082255 0.05311808 0.05111950
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+v 0.00047071 0.04455182 0.05332531
+v 0.00044403 0.04216753 0.05320121
+v 0.00062938 0.03444057 0.04539564
+v 0.00113404 0.03444058 0.04340033
+v 0.00134214 0.03444058 0.04219980
+v -0.00011540 0.04060971 0.05254029
+v 0.00083046 0.05311808 0.05111950
+v 0.00013735 0.04060971 0.05254029
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+f 35 44 36
+f 37 44 38
+f 39 45 40
+
diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_14.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24c23f797f5e55b0666dd466e65ed54ef47ec11f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_14.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.00153701 -0.05894556 -0.01917196
+v -0.00155703 -0.05894557 -0.01665520
+v 0.00151952 -0.05894556 -0.01917196
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+v -0.00140938 -0.05894562 -0.00280059
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+v -0.00070241 -0.08562821 0.00388511
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+v -0.00083286 -0.08550398 -0.00431299
+v -0.00018720 -0.08725122 -0.00327921
+v 0.00014626 -0.06365664 0.00008183
+v -0.00046843 -0.05894562 -0.00201960
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+f 49 69 50
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+f 51 59 58
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+f 55 69 68
+f 62 67 66
+f 63 65 64
+
diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_15.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73d4432a3cee9d064847126624fabbbde6f429ea
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_15.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.00056644 0.06171038 0.01891373
+v 0.00058874 0.06171038 0.01891373
+v -0.00130952 0.05959141 0.01891372
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+v -0.00142681 0.05959140 0.02180798
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+v -0.00137548 0.06540133 0.03345808
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+v -0.00145807 0.05668641 0.01891371
+v -0.00043079 0.06781506 0.03637209
+v -0.00040613 0.06730744 0.03110873
+v 0.00131174 0.05959141 0.01891372
+v 0.00119444 0.06249638 0.02472199
+v 0.00042814 0.06730744 0.03110873
+v 0.00046858 0.06781506 0.03637209
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+v -0.00145119 0.06249636 0.03054604
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+v -0.00146295 0.03635804 0.01891363
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+v 0.00103843 0.05959134 0.03908074
+v 0.00144108 0.05668634 0.03908073
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+v 0.00145112 0.06249636 0.03054604
+v -0.00146237 0.03443885 0.01891363
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+v -0.00029744 0.06156293 0.03908075
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+v 0.00146689 0.05668641 0.01891371
+v 0.00033579 0.06156293 0.03908075
+v 0.00140953 0.03443878 0.03908065
+v 0.00145370 0.03443885 0.01891363
+v 0.00145570 0.03635804 0.01891363
+v 0.00145771 0.03928268 0.01891364
+v -0.00142796 0.03443878 0.03908065
+f 1 2 7
+f 1 7 18
+f 1 18 31
+f 1 31 43
+f 1 43 48
+f 1 48 47
+f 1 47 46
+f 1 46 38
+f 1 38 27
+f 1 27 15
+f 1 15 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 8
+f 1 8 2
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+f 2 9 10
+f 2 10 7
+f 3 11 12
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+f 3 13 14
+f 3 14 4
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+f 4 16 21
+f 4 21 10
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+f 11 15 12
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+f 25 28 26
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+f 38 45 49
+f 38 49 39
+f 42 48 43
+
diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_16.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e33026e6e07452e0e1c45a6db1ba840c468cb26b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_16.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.00170743 0.00150505 -0.08015173
+v -0.00169194 0.00404508 -0.07432330
+v -0.00167342 0.00404509 -0.07723017
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+v -0.00170305 -0.00072231 -0.08305861
+v -0.00161415 -0.00072283 0.05680898
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+v -0.00153502 0.00296568 0.05824775
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+v -0.00158048 0.00325833 -0.08305860
+v -0.00153569 0.00297133 -0.08454139
+v -0.00158183 0.00150507 -0.08524609
+v -0.00161584 -0.00072231 -0.08562781
+v -0.00157778 -0.00072284 0.05958372
+v -0.00156229 0.00150454 0.05877627
+v -0.00158923 0.00404493 -0.03353898
+v -0.00150202 -0.00038031 0.06087567
+v -0.00128718 0.00150454 0.06022971
+v -0.00019785 0.00311499 0.06127207
+v -0.00073090 0.00328300 0.05940756
+v -0.00085617 0.00335207 0.05698516
+v -0.00110333 0.00404469 0.03342187
+v -0.00124610 0.00404470 0.03052968
+v -0.00138383 0.00404474 0.01888751
+v -0.00140100 0.00404475 0.01596595
+v -0.00144107 0.00404478 0.00759768
+v -0.00118381 0.00404512 -0.08310264
+v -0.00071474 0.00404512 -0.08461480
+v -0.00065682 0.00348606 -0.08570121
+v -0.00007427 0.00306327 -0.08753636
+v -0.00121479 0.00150508 -0.08671421
+v -0.00141548 -0.00072230 -0.08709593
+v -0.00150101 -0.00072230 -0.08674358
+v -0.00151010 -0.00072284 0.06093439
+v -0.00129055 -0.00072284 0.06122802
+v -0.00050933 0.00150453 0.06158037
+v 0.00022003 0.00311499 0.06127207
+v 0.00051770 0.00335766 0.05967182
+v -0.00045579 0.00404468 0.03603512
+v 0.00001260 0.00404512 -0.08495247
+v 0.00012002 0.00306327 -0.08753636
+v -0.00043693 0.00150508 -0.08790338
+v -0.00123398 -0.00072230 -0.08737487
+v -0.00080532 -0.00072285 0.06181526
+v 0.00068540 -0.00072285 0.06193271
+v 0.00050423 0.00150453 0.06158037
+v 0.00130801 0.00137341 0.05949565
+v 0.00143463 0.00171175 0.05676494
+v 0.00065677 0.00344401 0.05676494
+v 0.00049245 0.00404468 0.03603512
+v 0.00071738 0.00404512 -0.08455608
+v 0.00047056 0.00360740 -0.08598015
+v 0.00046618 0.00150508 -0.08790338
+v 0.00156090 0.00275527 -0.08429182
+v 0.00129960 0.00167402 -0.08614164
+v -0.00063763 -0.00072230 -0.08805021
+v 0.00128175 -0.00072284 0.06049396
+v 0.00146695 -0.00072284 0.06000948
+v 0.00158952 0.00031830 0.05840923
+v 0.00122417 0.00404470 0.03054436
+v 0.00142755 0.00404474 0.01852048
+v 0.00139691 0.00404473 0.02142735
+v 0.00110766 0.00404469 0.03308421
+v 0.00108106 0.00404469 0.03345123
+v 0.00060088 0.00404468 0.03572682
+v 0.00109116 0.00404512 -0.08349903
+v 0.00068405 -0.00072230 -0.08805021
+v 0.00147806 -0.00072230 -0.08690508
+v 0.00163229 0.00081955 -0.08527547
+v 0.00154339 0.00404511 -0.08148771
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+v 0.00154642 -0.00072284 0.05946627
+v 0.00158413 0.00404487 -0.01605370
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+v 0.00173263 -0.00072232 -0.08238327
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+v 0.00165451 -0.00072231 -0.08555441
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+v 0.00172118 -0.00072231 -0.08310265
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+v 0.00164811 0.00383184 -0.08015173
+v 0.00171950 0.00150505 -0.08015173
+v 0.00171310 0.00404508 -0.07469033
+v 0.00165081 0.00404510 -0.07944703
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+f 50 63 64
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+f 51 67 52
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+f 55 57 70
+f 55 70 69
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+f 56 73 71
+f 57 71 70
+f 60 74 61
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+f 61 76 63
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+f 61 77 78
+f 61 78 79
+f 61 79 75
+f 70 71 80
+f 71 73 81
+f 71 81 82
+f 71 82 80
+f 72 83 73
+f 73 83 84
+f 73 84 81
+f 78 82 81
+f 78 81 85
+f 78 85 86
+f 78 86 79
+f 81 84 85
+f 83 87 84
+f 84 87 85
+f 85 87 86
+
diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_17.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d9b670a2fe3781b19af48e8a9176010aa11b52c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_17.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00144847 -0.03331940 0.03695562
+v -0.00145388 -0.03331940 0.03928627
+v 0.00088513 -0.03331940 0.03695562
+v -0.00142225 -0.05256868 0.03695555
+v -0.00120744 -0.04206312 0.04802462
+v -0.00099633 -0.03331942 0.04219958
+v -0.00144277 -0.04787087 0.04511128
+v -0.00144419 -0.04496510 0.04511129
+v -0.00142596 -0.04496511 0.04802460
+v 0.00144951 -0.03331940 0.03928627
+v 0.00144524 -0.03332505 0.03695562
+v 0.00143755 -0.05256868 0.03695555
+v -0.00143422 -0.05256871 0.04511127
+v -0.00037782 -0.04288473 0.05282731
+v -0.00025560 -0.03331942 0.04391028
+v -0.00143479 -0.05256871 0.04691054
+v -0.00141827 -0.05256872 0.04802458
+v -0.00102055 -0.05256872 0.05015636
+v -0.00078608 -0.04504050 0.05103114
+v 0.00144951 -0.03334955 0.03928627
+v 0.00144695 -0.03331940 0.03931734
+v 0.00143869 -0.04496511 0.04802460
+v 0.00145464 -0.04496510 0.04511129
+v 0.00145663 -0.04787087 0.04511128
+v 0.00144524 -0.03334955 0.03695562
+v 0.00145407 -0.05077475 0.04511127
+v 0.00145122 -0.05256871 0.04511127
+v -0.00037782 -0.04412279 0.05282731
+v 0.00043699 -0.04288473 0.05282731
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+v -0.00078095 -0.05256873 0.05096276
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+v 0.00043699 -0.04412279 0.05282731
+v 0.00100707 -0.03331942 0.04222755
+v 0.00080906 -0.05256873 0.05096276
+f 1 2 6
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+f 1 37 32
+f 1 32 21
+f 1 21 10
+f 1 10 3
+f 1 3 11
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+f 1 25 12
+f 1 12 4
+f 1 4 2
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+f 14 29 30
+f 14 30 15
+f 18 31 28
+f 20 24 25
+f 21 32 33
+f 21 33 22
+f 22 34 35
+f 22 35 24
+f 22 24 23
+f 22 33 29
+f 22 29 34
+f 24 35 26
+f 26 35 27
+f 28 31 38
+f 28 38 36
+f 29 36 34
+f 29 33 32
+f 29 32 37
+f 29 37 30
+f 34 38 35
+f 34 36 38
+
diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_18.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95475978537710cc09f10b0c29db414fa33a067d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_18.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.00145418 -0.03331745 0.01888496
+v -0.00145418 -0.03331745 0.01889380
+v 0.00147805 -0.03331745 0.01888496
+v -0.00145533 -0.05658115 0.01888487
+v -0.00145303 -0.03331747 0.02471992
+v 0.00147805 -0.03331745 0.01892564
+v 0.00148409 -0.05658115 0.01888487
+v -0.00142714 -0.05948644 0.01888486
+v -0.00145274 -0.06239177 0.03054593
+v -0.00144843 -0.03331752 0.03695407
+v 0.00144438 -0.03331751 0.03640400
+v 0.00144524 -0.03332464 0.03695407
+v 0.00146481 -0.05948649 0.03345900
+v 0.00147056 -0.06239177 0.03054593
+v 0.00144870 -0.05948644 0.01888486
+v -0.00068624 -0.06188616 0.01888485
+v -0.00055417 -0.06821305 0.03370305
+v -0.00139549 -0.06529708 0.03345898
+v -0.00144526 -0.06239178 0.03345899
+v -0.00144728 -0.05948649 0.03345900
+v 0.00088504 -0.03331752 0.03695407
+v -0.00143490 -0.05658122 0.03695398
+v 0.00145014 -0.05658122 0.03695398
+v 0.00145388 -0.06239178 0.03345899
+v 0.00139288 -0.06529708 0.03345898
+v 0.00144150 -0.06239176 0.02763464
+v 0.00144668 -0.05949712 0.01888486
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+v -0.00011913 -0.06394408 0.02302009
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+v -0.00002245 -0.06968707 0.03507202
+v -0.00036974 -0.06819882 0.03573884
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+v -0.00132183 -0.05948651 0.03695397
+v 0.00139518 -0.05890617 0.03695397
+v 0.00040971 -0.06819882 0.03573884
+v 0.00007192 -0.06968707 0.03507202
+v 0.00058235 -0.06821305 0.03370305
+v 0.00136353 -0.05948651 0.03695397
+v 0.00007192 -0.06968707 0.03483679
+v 0.00018241 -0.06394408 0.02302009
+v -0.00072681 -0.06228855 0.03695396
+v 0.00077283 -0.06228855 0.03695396
+v 0.00089396 -0.06193607 0.03695396
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+f 1 11 6
+f 1 6 3
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+f 1 7 15
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+f 18 34 22
+f 18 22 19
+f 19 22 20
+f 23 35 25
+f 23 25 24
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+f 25 37 38
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+f 25 35 39
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+f 27 38 28
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+f 28 40 41
+f 29 41 40
+f 29 40 30
+f 30 40 37
+f 30 37 31
+f 31 37 36
+f 31 36 32
+f 32 42 34
+f 32 34 33
+f 32 36 43
+f 32 43 42
+f 36 39 44
+f 36 44 43
+f 37 40 38
+
diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_19.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba664315c61d2eb46410f413b32bb894ca61e055
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_19.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00065519 -0.06455848 0.05385092
+v -0.00061285 -0.06455848 0.05385092
+v 0.00056388 -0.06437888 0.05093781
+v 0.00077295 -0.06228841 0.03695637
+v 0.00089412 -0.06193629 0.03695637
+v 0.00128295 -0.06239292 0.05093782
+v 0.00137596 -0.06239293 0.05385093
+v 0.00064523 -0.06454910 0.05676402
+v -0.00134984 -0.06239293 0.05385093
+v -0.00125654 -0.06239292 0.05093782
+v -0.00072663 -0.06228841 0.03695637
+v -0.00051870 -0.06437888 0.05093781
+v -0.00060688 -0.06454910 0.05676402
+v 0.00032467 -0.06409483 0.04880427
+v 0.00136345 -0.05948787 0.03695638
+v 0.00139530 -0.05890804 0.03695638
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+
diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_2.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07cb61afb157cf6a273813c1a5818d4b736ba59d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_2.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_20.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca89fc9fa51d541a1b7288ba45fc72c1734cd4fe
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_20.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_21.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5884fac929ded5d0237903342cf50e6cc95865fd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_21.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_22.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19772eb2e5c1eae9aea3dc0bba0505467be4caee
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_22.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_23.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd74f30b2d6afd2d68f0a35f6570425016962267
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_23.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_24.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..912bc1e93b70636bf31b812510de988d55985943
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_24.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_25.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd15d26ed45f1c5629ecb32cf0d69c2f05ca8b26
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_25.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_3.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4de3b83bbba0271cb5359975224fe745a1c4c57
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_3.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_4.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ba9153b6234684c749d144b4e5243c1c8d9edf6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_4.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_5.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c97035be16dd472b13a7b776b2ea532f2c7983a5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_5.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.00047167 0.05245203 -0.03589030
+v 0.00052349 0.05245203 -0.03589030
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+
diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_6.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e59498628ff786ddabaa8425a46d7b4d4dba264e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_6.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+v -0.00058466 0.06227246 0.00712241
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+v -0.00000442 0.06687529 0.00866872
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+v 0.00062902 0.06227246 0.00712241
+v 0.00105112 0.05959040 0.00724214
+v -0.00145985 0.06249543 0.01015438
+v -0.00144085 0.05378350 0.00724212
+v -0.00146160 0.03926470 0.00380947
+v -0.00085154 0.06540046 0.01015439
+v -0.00012164 0.06696447 0.01015440
+v 0.00134373 0.04455557 0.00380949
+v 0.00134139 0.05668854 0.00724213
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+v 0.00149544 0.06249543 0.01015438
+v -0.00147855 0.05959039 0.01015437
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+
diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_7.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..790201e92d3c6b3af6b4e58b97f885f9d2114bd0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_7.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.00046843 -0.05894310 -0.00202164
+v -0.00078321 -0.05894310 -0.00205536
+v 0.00077531 -0.05894310 -0.00202586
+v 0.00057530 -0.05329869 0.00396772
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+v -0.00140939 -0.05894310 -0.00280139
+v 0.00139287 -0.05894310 -0.00396470
+v 0.00098055 -0.05077500 0.00396773
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+v -0.00059859 -0.05307542 0.00396773
+v -0.00153309 -0.05894310 -0.00294892
+v 0.00124887 -0.04787000 0.00396774
+v 0.00152088 -0.03331739 0.00396780
+v 0.00151688 -0.03916001 0.00396778
+v 0.00149011 -0.04206250 0.00396777
+v 0.00138056 -0.04496248 0.00396775
+v 0.00153565 -0.05894308 -0.00732818
+v 0.00158396 -0.04083068 -0.02031416
+v -0.00095522 -0.05077500 0.00396773
+v -0.00101522 -0.05029585 0.00396774
+v -0.00127708 -0.04750875 0.00396775
+v -0.00143585 -0.04460877 0.00396776
+v -0.00149278 -0.04170376 0.00396777
+v -0.00149432 -0.03916001 0.00396778
+v -0.00154324 -0.03445125 -0.00837338
+v -0.00155494 -0.05894306 -0.01361256
+v -0.00148816 -0.03331739 0.00396780
+v 0.00158396 -0.04041675 -0.02031416
+v 0.00154088 -0.03331734 -0.01024056
+v 0.00153872 -0.05894305 -0.01606563
+v 0.00158396 -0.04083067 -0.02053333
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+v 0.00000020 -0.05518756 -0.03503678
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+
diff --git a/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_8.obj b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f685b1904786a7d2a0f59ecce526ba7b5729b7c1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/mjcf/mesh/decoration_93_collision_8.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.00073264 0.06249879 -0.03312359
+v 0.00076995 0.06249879 -0.03312359
+v -0.00070351 0.05960212 -0.03301180
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+v -0.00154158 0.07486648 -0.02616631
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+v -0.00134747 0.06830703 -0.03062998
+v -0.00058054 0.06830704 -0.03269002
+v 0.00151726 0.05960210 -0.02771650
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