diff --git a/.gitattributes b/.gitattributes
index add048d9d32f08ef60980f41e5728578773973ee..4d0411a35acea1d08de600854da5894753e4ba26 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2909,3 +2909,6 @@ dataset/desktop_supplies/decorations/792fd01039ab5105a7ec70a33a4457a5/mesh/chess
 dataset/desktop_supplies/decorations/7a9e1b45e2ea571dbf4713d08a89cbb4/7a9e1b45e2ea571dbf4713d08a89cbb4.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/7a9e1b45e2ea571dbf4713d08a89cbb4/mesh/thermos.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/7a9e1b45e2ea571dbf4713d08a89cbb4/mesh/thermos_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/8298700268da510ebd047e7620b9eaa5.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mesh/teacup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mesh/teacup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/8298700268da510ebd047e7620b9eaa5.urdf b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/8298700268da510ebd047e7620b9eaa5.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9a0f6e454f3059123e455f93567ecde0be9ff7a2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/8298700268da510ebd047e7620b9eaa5.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>0.60</mu1>
+            <mu2>0.50</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>0.137259</scale>
+         <version>v0.1.7</version>
+         <category>teacup</category>
+         <description>simple ceramic teacup with a smooth gradient finish</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120045337</generate_time>
+         <gs_model>mesh/teacup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.903563022613525</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</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/8298700268da510ebd047e7620b9eaa5/8298700268da510ebd047e7620b9eaa5.usd b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/8298700268da510ebd047e7620b9eaa5.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5d1eb1b814fd4868f72eeefcae358d108afe854c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/8298700268da510ebd047e7620b9eaa5.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05a0736e4729bdb2c9ca687569f5d2160a626cbb02d15fc98c3476e55f2bff12
+size 756997
diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mesh/material.mtl b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/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/8298700268da510ebd047e7620b9eaa5/mesh/material_0.png b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0131c24db51cd0ffc223e7b72a41991ca82fb2ae
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2b07bcb1da3b5b833ab42bb14a75e9ae4eab831675e69672e3e80d79e9080ed
+size 1697948
diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mesh/teacup.glb b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mesh/teacup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bf6ddf0dd8ef3bbbee07fc36454719a50ef7467c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mesh/teacup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4581e9c2fdc53cd91b3d72bd08e7cda7d466aedc6da2eeb8b1b441996e7f9d4a
+size 2199516
diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mesh/teacup.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mesh/teacup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..905b99711f38bb75dc363bc56ac6dda22e1641f6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mesh/teacup.obj
@@ -0,0 +1,45654 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mesh/teacup_collision.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mesh/teacup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e0fa32e8d75dd0477f06cf9ef125ccc92d4c901
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mesh/teacup_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup.obj
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index 0000000000000000000000000000000000000000..3b37c3adf6d955698c342c6e5352b40b58f280de
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+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup.obj
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dbacba36e0456be8065340647c4e470e481fa5e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision.obj
@@ -0,0 +1,31416 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_0.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96b4e3b792c37ccb8006f0173529de25435ac74f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_1.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38e8ce92466bd0aa062eefdae649533822ae496e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_1.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_10.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..849cbbaf324ba139c74df1577154b8539d30851f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_10.obj
@@ -0,0 +1,1093 @@
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_11.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd3c97c439e25fa89bba2295aa730ade063e24a8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_11.obj
@@ -0,0 +1,634 @@
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_12.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b7fada0615c2a3bf1ad4d1eef326a28ad95a335
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_12.obj
@@ -0,0 +1,1312 @@
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_13.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b650eb04471878afc2095fea84a6fa3e97a92830
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_13.obj
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_14.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5655ac2faba2cc475881d3c51356dde248c3902f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_14.obj
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_15.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36ca4b696dbd1c4de1da12fc387048a7313cf19c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_15.obj
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_16.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b03ccf5fa32a742416663de802d3a8c075267b5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_16.obj
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_17.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bbb0834b491eef7631b62ade4775db94f715046
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_17.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_18.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..583d354d6f8f54cb190b417e864b2ebe4812e561
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_18.obj
@@ -0,0 +1,634 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_19.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86ff7853aca8278e9aced7fd1d0aecd4d5a0aeb3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_19.obj
@@ -0,0 +1,616 @@
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_2.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..469bab54821cd3b5b3b92b74fdcbf7964350e285
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_2.obj
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_20.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9451f2d11ccdd6a495d6c1226d602448e00cb6ba
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_20.obj
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_21.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67b7f16ad02e1b8272acd4e37eb03cfed33ff9d3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_21.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_22.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da99dae39da43313ec83f8207f143053431a6f41
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_22.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_23.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4f2e9e5461800f705a659aa259509af02620593
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_23.obj
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_24.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1094c53e7650e38baa83693a9b4c32442b1458ce
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_24.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_25.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..721caf4809f5dd648cdc99144137acdbdb30fe84
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_25.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_26.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6507e7e9f2652d6b4f5841d95e01dd9f542a9871
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_26.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_27.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da2a9970c76ecd9a08eca7f2be5c2639570198e4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_27.obj
@@ -0,0 +1,442 @@
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_28.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2821a01a01c9a777a82d8fe77c35de40d9b5a6a5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_28.obj
@@ -0,0 +1,730 @@
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_29.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2d28e855f28d40244a8254b85cc30c5d516a2ae
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_29.obj
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_3.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba7134e4cd934a87f047fdba2526c8fcb064a1b3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_3.obj
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_30.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f3459bff9b7dcda4d38ff33eaa494e110247aa8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_30.obj
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_31.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39299a0c1e76cd6c0311bd345eaccf24062901db
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_31.obj
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_32.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..653bce5bad0f8c7e356806ae8181937c5ff5ebab
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_32.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_33.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff2cb77712bdd741aeab972737e087be600ba823
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_33.obj
@@ -0,0 +1,898 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_34.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cd3c5db6113ccf4ed46dec48b05b7942f720524
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_34.obj
@@ -0,0 +1,16 @@
+# https://github.com/mikedh/trimesh
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+f 1 2 6
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+
diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_35.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..586acd93e05a788749897f41cc58b5942cde64db
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_35.obj
@@ -0,0 +1,943 @@
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_36.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e49a856dc2a3b9f2bc488bd84fff267ea919033
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_36.obj
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_37.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2362ff9e774a7dc3d43263c57db39538bcec0da
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_37.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_38.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fbe4ef0230e1848da725bcb6af67ef9fd37e244
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_38.obj
@@ -0,0 +1,1198 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_39.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..522dbb03d8721fc9a4f0c9bbe1f2e5a7c83d4cec
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_39.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_4.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d4277a8ec3966ae44490fa10062b82fa2222ec0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_4.obj
@@ -0,0 +1,913 @@
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_40.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f77990dc0dfd8b20178f942a457995224fd2192
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_40.obj
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_41.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fd28464fde45cd27f55b5f4f655b58710107e36
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_41.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_42.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff065fd75825e3077b35d7d665de65c322d34679
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_42.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_43.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5217c86bd54de0095c5e184f442415cc0a74a869
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_43.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_44.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..533d43aa290153e091c54d42b9e4a39512e99097
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_44.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_45.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00eab0e8e079c9bd6370c8cd3bb2ae4ace1b3516
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_45.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_46.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf9ace4ee81dd522e161eebd0d69f558d00389f9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_46.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_47.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1bead997d15f2fc131975b94acef6001bf5894f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_47.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_48.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..403101d41cdda12fc64ce54bf1e1e40db21f2ca0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_48.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_49.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7a684678c973b01039bb7a0c03e3391f581d78e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_49.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_5.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6070a80117537c29dcacc0ebce412f29d47a1716
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_5.obj
@@ -0,0 +1,1054 @@
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_50.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2263fde8dd5eec58d6703264c510ad2872f340d4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_50.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
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+v -0.00004495 -0.02961348 -0.03226128
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+
diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_51.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f91537c4e03ed627d7b0fc7b2e78cd4f979f32b4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_51.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+f 3 8 5
+f 3 5 4
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+
diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_6.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c2abd69ccc80746a40ec808c16c6713d173d30b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_6.obj
@@ -0,0 +1,1243 @@
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_7.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d554e8ae3413311cb5e261f0e615a735936a4ed
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_7.obj
@@ -0,0 +1,844 @@
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_8.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54c109140eb6131c09f545be4ada09553c54b2a3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_8.obj
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diff --git a/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_9.obj b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e548d90800da81f24e688414e5b7028db565be24
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mjcf/mesh/teacup_collision_9.obj
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