diff --git a/.gitattributes b/.gitattributes
index 89ba71241ff3eb24b01063a9c89d79e46083c4d2..0dd5283571656a57561a8d78426c75383acf1f8d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2945,3 +2945,6 @@ dataset/desktop_supplies/decorations/d80343181be75d479bb0db2cc96bc963/mesh/glass
 dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/d96b65cd9cca5c9482eed4c2ce31d92d.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mesh/chessboard.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mesh/chessboard_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/da6bc99c5cc5592f9d3ee980345ced22.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mesh/lego_brick.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mesh/lego_brick_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/da6bc99c5cc5592f9d3ee980345ced22.urdf b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/da6bc99c5cc5592f9d3ee980345ced22.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..435e8a1c5bdba9ab1d30b20827b487dd5c7448b9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/da6bc99c5cc5592f9d3ee980345ced22.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lego_brick">
+   <link name="lego_brick">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/lego_brick.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/lego_brick_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0035" />
+         <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>0.028438</scale>
+         <version>v0.1.7</version>
+         <category>lego brick</category>
+         <description>blue rectangular lego brick with two cylindrical studs on top</description>
+         <min_height>0.004</min_height>
+         <max_height>0.006</max_height>
+         <real_height>0.005</real_height>
+         <min_mass>0.002</min_mass>
+         <max_mass>0.005</max_mass>
+         <generate_time>20260119164041</generate_time>
+         <gs_model>mesh/lego_brick_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.405887603759766</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>12</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/da6bc99c5cc5592f9d3ee980345ced22/da6bc99c5cc5592f9d3ee980345ced22.usd b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/da6bc99c5cc5592f9d3ee980345ced22.usd
new file mode 100644
index 0000000000000000000000000000000000000000..fcb1412115abe1c5d45b47ed2cc3f627efd15a57
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/da6bc99c5cc5592f9d3ee980345ced22.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbf9a98b2049a79a6550ee855ef2a526a4e078a253d9be139b31cb97b2f29be8
+size 637853
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mesh/lego_brick.glb b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mesh/lego_brick.glb
new file mode 100644
index 0000000000000000000000000000000000000000..dd31c6a03c681a53b306e7bd092b4b72c8171358
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mesh/lego_brick.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e500989fb55ed27de615413f7c3826ead6418f304304863a3b17a69f1b08f94
+size 2130356
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mesh/lego_brick.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mesh/lego_brick.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f4aa517d87f86fdc5fda0f75d2c46644ef14290
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mesh/lego_brick.obj
@@ -0,0 +1,39884 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mesh/lego_brick_collision.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mesh/lego_brick_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..451419295e32546786de07036261d65286648eb5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mesh/lego_brick_collision.obj
@@ -0,0 +1,13412 @@
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diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mesh/lego_brick_gs.ply b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mesh/lego_brick_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e60f7a5421c908d3b28c9837e78230d5bf969b61
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mesh/lego_brick_gs.ply
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diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mesh/material.mtl b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mesh/material_0.png b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9cb60c0c635bbc4e7526a770793a2627de364fdf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c483fbb0020c4fe04232a23c458abcebddd5fe856f59c5b2425ff306bdc7a3b
+size 1694117
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/da6bc99c5cc5592f9d3ee980345ced22.xml b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/da6bc99c5cc5592f9d3ee980345ced22.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0e350b48743e1f0a8aa78737e86458a840154a52
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/da6bc99c5cc5592f9d3ee980345ced22.xml
@@ -0,0 +1,140 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="lego_brick">
+  <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/lego_brick.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/lego_brick_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/lego_brick_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/lego_brick_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/lego_brick_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/lego_brick_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/lego_brick_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/lego_brick_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/lego_brick_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/lego_brick_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/lego_brick_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/lego_brick_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/lego_brick_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/lego_brick_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/lego_brick_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/lego_brick_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/lego_brick_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/lego_brick_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/lego_brick_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/lego_brick_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/lego_brick_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/lego_brick_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/lego_brick_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/lego_brick_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/lego_brick_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/lego_brick_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/lego_brick_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/lego_brick_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/lego_brick_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/lego_brick_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/lego_brick_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/lego_brick_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/lego_brick_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/lego_brick_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/lego_brick_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/lego_brick_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/lego_brick_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/lego_brick_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/lego_brick_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/lego_brick_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/lego_brick_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/lego_brick_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/lego_brick_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/lego_brick_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/lego_brick_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/lego_brick_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/lego_brick_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/lego_brick_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/lego_brick_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/lego_brick_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/lego_brick_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/lego_brick_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/lego_brick_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/lego_brick_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/lego_brick_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/lego_brick_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/lego_brick_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/lego_brick_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/lego_brick_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/lego_brick_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/lego_brick_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/lego_brick_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/lego_brick_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/lego_brick_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="lego_brick">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_62" 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/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dabed75ded7373129d0bca8b8f6a4a40819c2f4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick.obj
@@ -0,0 +1,39884 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.000362 -0.003961 -0.001809
+v 0.000625 -0.003961 -0.000976
+v -0.000377 -0.003962 -0.000808
+v -0.001364 -0.003963 -0.001568
+v -0.000865 -0.003962 -0.001923
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+v -0.001792 -0.003963 -0.000524
+v -0.002391 -0.003963 0.000549
+v -0.001648 -0.003964 0.000711
+v -0.000985 -0.003964 -0.000264
+v 0.000327 -0.003962 0.000124
+v -0.000377 -0.003964 0.001013
+v -0.001149 -0.003964 0.001606
+v 0.000690 -0.003963 0.001055
+v 0.001289 -0.003960 0.000469
+v 0.001440 -0.003960 0.001382
+v 0.001975 -0.003959 0.001038
+v 0.002858 -0.003958 0.001280
+v 0.003961 -0.003959 0.000956
+v 0.004343 -0.003958 0.001360
+v 0.005032 -0.003958 0.000808
+v 0.005871 -0.003958 0.000251
+v 0.005911 -0.003957 0.001104
+v 0.006699 -0.003957 0.001094
+v 0.006747 -0.003955 0.001651
+v 0.006235 -0.003957 0.001655
+v 0.005035 -0.003957 0.001603
+v 0.004234 -0.003960 0.001605
+v 0.001991 -0.003960 0.001599
+v 0.000783 -0.003963 0.001609
+v 0.001255 -0.003959 -0.001133
+v 0.002117 -0.003957 -0.000075
+v 0.002673 -0.003957 0.000538
+v 0.003884 -0.003958 0.000648
+v 0.004437 -0.003958 0.000078
+v 0.005500 -0.003958 -0.000472
+v 0.006687 -0.003957 -0.000516
+v 0.006980 -0.003961 0.000234
+v 0.006933 -0.003961 0.001232
+v 0.006976 -0.003958 0.001657
+v 0.006936 -0.003960 -0.000941
+v 0.006741 -0.003957 -0.001682
+v 0.006674 -0.003957 -0.002277
+v 0.006060 -0.003957 -0.001224
+v 0.006160 -0.003957 -0.002499
+v 0.004159 -0.003957 -0.001415
+v 0.004553 -0.003958 -0.000750
+v 0.003326 -0.003957 -0.000593
+v 0.002687 -0.003957 -0.000636
+v 0.002844 -0.003956 -0.001894
+v 0.001998 -0.003957 -0.001336
+v 0.001663 -0.003958 -0.002498
+v 0.001113 -0.003958 -0.002038
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+v -0.004109 -0.003967 0.001602
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+v -0.003358 -0.003968 0.001605
+v -0.002188 -0.003964 0.001602
+v -0.005489 -0.003967 0.001608
+v -0.006566 -0.003967 0.001610
+v -0.006461 -0.003968 0.000944
+v -0.006933 -0.003967 0.001662
+v -0.006935 -0.003971 0.000519
+v -0.006749 -0.003967 -0.000204
+v -0.006251 -0.003967 0.000382
+v -0.006453 -0.003966 -0.001237
+v -0.005815 -0.003966 -0.000403
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diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bce6756af9efe99091206221eef2bc9dbaf3263c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision.obj
@@ -0,0 +1,13412 @@
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diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_0.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..606a353ac2b9ac9d37dc6e2863005fe44e94bda2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_0.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_1.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd02f13ee775ca1b9aa1723333fee03c6c3b8555
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_1.obj
@@ -0,0 +1,250 @@
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+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_10.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff7c146995ec211db258f641c1d6c5e20f330124
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_10.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00630906 0.00397629 0.00075825
+v -0.00630906 0.00278423 0.00075825
+v -0.00630906 0.00397615 0.00109295
+v -0.00409368 0.00397556 0.00144082
+v -0.00362601 0.00397541 0.00144082
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+v -0.00630906 0.00397585 0.00144082
+v -0.00336741 0.00397527 0.00144082
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+v -0.00630906 0.00248880 0.00196948
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+v -0.00502902 0.00320473 0.00196948
+v -0.00501923 0.00320255 0.00196948
+v -0.00483579 0.00315770 0.00196948
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+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_11.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3540d952c034fcac097d7f4f25c30d0e71c3e43b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_11.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00390413 0.00157443 0.00174242
+v 0.00390413 0.00157443 0.00274242
+v 0.00390413 0.00329585 0.00174242
+v 0.00390413 0.00329585 0.00274242
+v 0.00667942 0.00157443 0.00174242
+v 0.00667942 0.00157443 0.00274242
+v 0.00667942 0.00329585 0.00174242
+v 0.00667942 0.00329585 0.00274242
+f 2 4 1
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+f 2 8 4
+f 6 2 5
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+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_12.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ac8ba5e75d667f0c3c7cfd7d160312e27939df0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_12.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.00155303 0.00076517 0.00091365
+v -0.00066983 0.00076517 0.00091365
+v -0.00153984 0.00080289 0.00091365
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+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_13.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08afacb35550642dcb6fb1771882d8c3986c1f60
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_13.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.00268923 -0.00219600 0.00258200
+v 0.00292297 -0.00196531 0.00254855
+v 0.00268923 -0.00171626 0.00258093
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+f 56 58 57
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_14.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..292eae3923bc2b748d2bd9e036b40ebdf80531bf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_14.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00624440 -0.00171625 -0.00267603
+v 0.00624440 -0.00171625 0.00075862
+v 0.00624440 -0.00001548 -0.00267603
+v 0.00624440 -0.00001548 0.00075862
+v 0.00724441 -0.00171625 -0.00267603
+v 0.00724441 -0.00171625 0.00075862
+v 0.00724441 -0.00001548 -0.00267603
+v 0.00724441 -0.00001548 0.00075862
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_15.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..060fc1682bd391b9ba4e63f39b43f29502d18f07
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_15.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00624053 -0.00001550 -0.00267874
+v 0.00624053 -0.00001550 0.00212235
+v 0.00624053 0.00398187 -0.00267874
+v 0.00624053 0.00398187 0.00212235
+v 0.00724052 -0.00001550 -0.00267874
+v 0.00724052 -0.00001550 0.00212235
+v 0.00724052 0.00398187 -0.00267874
+v 0.00724052 0.00398187 0.00212235
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_16.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e94d3e1dd7ccd14b8cd6f8c8092586f19188a52
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_16.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00719420 -0.00117020 -0.00267791
+v -0.00719420 -0.00117020 0.00197340
+v -0.00719420 0.00397708 -0.00267791
+v -0.00719420 0.00397708 0.00197340
+v -0.00619419 -0.00117020 -0.00267791
+v -0.00619419 -0.00117020 0.00197340
+v -0.00619419 0.00397708 -0.00267791
+v -0.00619419 0.00397708 0.00197340
+f 2 4 1
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+f 1 4 3
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+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_17.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4aa80fd1b07eabb629fde8939d1b9eb37c02e9b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_17.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00667073 0.00033143 0.00174491
+v -0.00667073 0.00033143 0.00274491
+v -0.00667073 0.00323715 0.00174491
+v -0.00667073 0.00323715 0.00274491
+v -0.00394227 0.00033143 0.00174491
+v -0.00394227 0.00033143 0.00274491
+v -0.00394227 0.00323715 0.00174491
+v -0.00394227 0.00323715 0.00274491
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+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_18.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1c5db00dfc7040073fccea6658e76300c277b99
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_18.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00083618 -0.00172403 -0.00261861
+v -0.00083618 -0.00172403 0.00075837
+v -0.00083618 -0.00072403 -0.00261861
+v -0.00083618 -0.00072403 0.00075837
+v 0.00016382 -0.00172403 -0.00261861
+v 0.00016382 -0.00172403 0.00075837
+v 0.00016382 -0.00072403 -0.00261861
+v 0.00016382 -0.00072403 0.00075837
+f 2 4 1
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+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_19.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b28fa9f65b1951c0dcb91164bbaa804f5a6341a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_19.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00391636 0.00025343 0.00173675
+v 0.00391636 0.00025343 0.00273675
+v 0.00391636 0.00157443 0.00173675
+v 0.00391636 0.00157443 0.00273675
+v 0.00526463 0.00025343 0.00173675
+v 0.00526463 0.00025343 0.00273675
+v 0.00526463 0.00157443 0.00173675
+v 0.00526463 0.00157443 0.00273675
+f 2 4 1
+f 5 2 1
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+f 3 5 1
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+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_2.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d68a61fbc5b6a89aa7d4bb24722580f06b92b88e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_2.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
+v 0.00172881 -0.00001549 0.00075937
+v 0.00173066 0.00011093 0.00075937
+v 0.00108239 -0.00001549 0.00075937
+v 0.00171536 -0.00001548 -0.00220352
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+v 0.00170594 0.00034161 0.00075937
+v 0.00001332 0.00105175 0.00075937
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+v 0.00112173 -0.00001548 -0.00220352
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+v 0.00165366 0.00049952 -0.00220352
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+v 0.00113199 -0.00001548 -0.00228774
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+v 0.00164744 0.00011094 -0.00255595
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+v 0.00164795 0.00048564 -0.00236669
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+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_20.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38ea85926f56d7bc09bce15d034f8af639b37571
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_20.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_21.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91297c06cba254b0ba01651f32fd778f39c3eeb0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_21.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_22.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..708fcf649b626b3c3b0de3ea1f5a194808f7e9d8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_22.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_23.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00503fb85702e64e818591e45b6bdcf47ee75c52
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_23.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00596831 0.00072003 0.00183839
+v 0.00596831 0.00072003 0.00283839
+v 0.00596831 0.00172003 0.00183839
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+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_24.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32c725660865e358deb8630739a94ee238ad4884
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_24.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_25.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7983d3c9888a0536f8a09c95bb6cbfeb23a21319
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_25.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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+f 32 58 59
+f 32 59 37
+f 32 37 33
+f 36 50 61
+f 37 59 58
+f 37 58 57
+f 37 57 56
+f 37 56 55
+f 37 55 54
+f 37 54 53
+f 37 53 52
+f 37 52 51
+f 37 51 50
+f 37 50 69
+f 37 69 65
+f 37 65 64
+f 37 64 63
+f 37 63 48
+f 37 48 47
+f 37 47 46
+f 37 46 45
+f 37 45 44
+f 37 44 43
+f 37 43 42
+f 37 42 41
+f 37 41 40
+f 37 40 39
+f 38 48 63
+f 38 63 64
+f 38 64 65
+f 38 65 66
+f 38 66 62
+f 49 67 50
+f 50 67 68
+f 50 68 61
+f 60 62 66
+f 65 69 66
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_26.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb5823e25cd56b9a7beca5189ff779cd32b5d591
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_26.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.00385970 -0.00148884 0.00081940
+v -0.00378589 -0.00147341 0.00081940
+v -0.00399392 -0.00146519 0.00081940
+v -0.00385970 -0.00147831 -0.00220334
+v -0.00367211 -0.00144659 0.00081940
+v -0.00407332 -0.00145034 0.00081940
+v -0.00407597 -0.00143677 -0.00220334
+v -0.00404676 -0.00142249 -0.00243129
+v -0.00385970 -0.00144672 -0.00243129
+v -0.00370650 -0.00141269 -0.00243129
+v -0.00368114 -0.00142985 -0.00220334
+v -0.00352090 -0.00127713 0.00081941
+v -0.00415218 -0.00141125 0.00081940
+v -0.00419266 -0.00137793 -0.00220334
+v -0.00416359 -0.00135586 -0.00243128
+v -0.00400335 -0.00140129 -0.00255725
+v -0.00385970 -0.00140158 -0.00255758
+v -0.00373597 -0.00139307 -0.00254948
+v -0.00359126 -0.00125477 -0.00241473
+v -0.00350629 -0.00116549 -0.00232760
+v -0.00356418 -0.00128260 -0.00220333
+v -0.00349926 -0.00124367 0.00081941
+v -0.00432954 -0.00126703 0.00081941
+v -0.00419386 -0.00137881 -0.00129223
+v -0.00419347 -0.00137865 -0.00152018
+v -0.00432675 -0.00126255 -0.00220333
+v -0.00430073 -0.00124049 -0.00243128
+v -0.00432742 -0.00126385 -0.00152017
+v -0.00425347 -0.00119794 -0.00256906
+v -0.00408619 -0.00127409 -0.00258763
+v -0.00385970 -0.00127322 -0.00260350
+v -0.00370145 -0.00127322 -0.00256838
+v -0.00369441 -0.00110146 -0.00257210
+v -0.00350629 -0.00115280 -0.00232760
+v -0.00350576 -0.00116737 -0.00220333
+v -0.00349926 -0.00117199 0.00075997
+v -0.00349926 -0.00109786 0.00081941
+v -0.00440282 -0.00120041 0.00081941
+v -0.00444491 -0.00115842 -0.00152017
+v -0.00444412 -0.00115756 -0.00197572
+v -0.00444371 -0.00115699 -0.00220333
+v -0.00441770 -0.00112684 -0.00243128
+v -0.00446854 -0.00096344 -0.00256366
+v -0.00432981 -0.00104118 -0.00259101
+v -0.00409363 -0.00104247 -0.00263052
+v -0.00385173 -0.00103165 -0.00259472
+v -0.00456121 -0.00001562 -0.00262647
+v -0.00438185 -0.00001562 -0.00258865
+v -0.00427883 -0.00001562 -0.00243128
+v -0.00423582 -0.00001562 -0.00220333
+v -0.00417103 -0.00001563 0.00081941
+v -0.00350576 -0.00115150 -0.00220333
+v -0.00349926 -0.00114517 0.00075997
+v -0.00453359 -0.00104234 0.00081941
+v -0.00444464 -0.00115814 -0.00113519
+v -0.00444491 -0.00115843 -0.00129222
+v -0.00452377 -0.00104175 -0.00220333
+v -0.00450227 -0.00101146 -0.00243128
+v -0.00469371 -0.00051953 -0.00255926
+v -0.00451276 -0.00081186 -0.00258324
+v -0.00466729 -0.00067327 -0.00252145
+v -0.00432742 -0.00081186 -0.00262478
+v -0.00456121 -0.00011989 -0.00262647
+v -0.00472703 -0.00011989 -0.00258290
+v -0.00472636 -0.00001562 -0.00258257
+v -0.00484160 -0.00001563 0.00081941
+v -0.00471694 -0.00074568 0.00081941
+v -0.00464073 -0.00085296 -0.00220333
+v -0.00462440 -0.00080538 -0.00243972
+v -0.00469105 -0.00072432 -0.00236948
+v -0.00471256 -0.00035065 -0.00257345
+v -0.00457807 -0.00059034 -0.00259135
+v -0.00471946 -0.00059034 -0.00243972
+v -0.00478545 -0.00035065 -0.00243128
+v -0.00456121 -0.00035065 -0.00261836
+v -0.00481611 -0.00011989 -0.00243128
+v -0.00477522 -0.00001562 -0.00249950
+v -0.00484147 -0.00005515 0.00081941
+v -0.00485461 -0.00001562 -0.00220333
+v -0.00485541 -0.00011989 -0.00220333
+v -0.00475278 -0.00064458 0.00081941
+v -0.00475690 -0.00058125 -0.00220333
+v -0.00469729 -0.00073774 -0.00220333
+v -0.00482248 -0.00035065 -0.00220333
+v -0.00481518 -0.00001562 -0.00243128
+v -0.00484121 -0.00011990 0.00081941
+v -0.00481903 -0.00035066 0.00081941
+v -0.00483576 -0.00020196 0.00081941
+v -0.00476978 -0.00058126 0.00081941
+v -0.00480841 -0.00042508 0.00081941
+f 1 2 5
+f 1 5 12
+f 1 12 22
+f 1 22 37
+f 1 37 51
+f 1 51 66
+f 1 66 78
+f 1 78 86
+f 1 86 88
+f 1 88 87
+f 1 87 90
+f 1 90 89
+f 1 89 81
+f 1 81 67
+f 1 67 54
+f 1 54 38
+f 1 38 23
+f 1 23 13
+f 1 13 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 4 6 7
+f 5 11 12
+f 6 13 7
+f 7 14 8
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+f 8 15 16
+f 8 16 9
+f 8 14 15
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 19 20
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+f 13 23 24
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+f 20 22 21
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+f 23 38 39
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+f 26 40 41
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+f 41 58 42
+f 42 58 43
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+f 43 60 44
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+f 43 61 59
+f 44 62 45
+f 44 60 62
+f 45 62 63
+f 45 63 47
+f 45 47 46
+f 47 63 64
+f 47 64 65
+f 47 65 77
+f 47 77 85
+f 47 85 79
+f 47 79 66
+f 47 66 51
+f 47 51 50
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+f 47 49 48
+f 54 67 68
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+f 54 56 55
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+f 58 69 61
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+f 59 71 72
+f 59 72 60
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+f 59 73 74
+f 59 74 71
+f 60 72 62
+f 61 69 70
+f 61 70 73
+f 62 75 63
+f 62 72 75
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+f 64 75 71
+f 64 71 76
+f 64 76 77
+f 64 77 65
+f 66 79 80
+f 66 80 78
+f 67 81 82
+f 67 82 83
+f 67 83 68
+f 68 83 70
+f 70 83 82
+f 70 82 73
+f 71 74 76
+f 71 75 72
+f 73 82 84
+f 73 84 74
+f 74 84 80
+f 74 80 76
+f 76 85 77
+f 76 80 79
+f 76 79 85
+f 78 80 86
+f 80 84 87
+f 80 87 88
+f 80 88 86
+f 81 89 84
+f 81 84 82
+f 84 89 90
+f 84 90 87
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_27.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6da0510cc1ab78d6c6c84e91f72244116d45f37f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_27.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00174711 -0.00149665 -0.00260829
+v -0.00174711 -0.00149665 0.00075871
+v -0.00174711 -0.00001562 -0.00260829
+v -0.00174711 -0.00001562 0.00075871
+v -0.00074711 -0.00149665 -0.00260829
+v -0.00074711 -0.00149665 0.00075871
+v -0.00074711 -0.00001562 -0.00260829
+v -0.00074711 -0.00001562 0.00075871
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_28.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e57fb4bb875807e27325341b9f81f9c715be3a55
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_28.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.00339746 0.00157444 0.00100826
+v 0.00339746 0.00126411 0.00096232
+v 0.00339746 0.00157443 0.00179983
+v 0.00354149 0.00157444 0.00097314
+v 0.00385879 0.00146581 0.00075934
+v 0.00385679 0.00146534 0.00075934
+v 0.00368424 0.00142208 0.00075934
+v 0.00357622 0.00126411 0.00075933
+v 0.00339746 0.00103346 0.00096588
+v 0.00339746 -0.00001550 0.00177028
+v 0.00391637 0.00157443 0.00189804
+v 0.00381383 0.00157444 0.00095508
+v 0.00385879 0.00157444 0.00095541
+v 0.00410025 0.00157444 0.00097482
+v 0.00462685 0.00157444 0.00111137
+v 0.00406205 0.00142425 0.00075934
+v 0.00357640 0.00126147 0.00075933
+v 0.00339746 -0.00001549 0.00100278
+v 0.00416898 0.00086957 0.00189803
+v 0.00408508 0.00101976 0.00189803
+v 0.00399223 0.00126410 0.00189803
+v 0.00394982 0.00139499 0.00189804
+v 0.00392972 0.00149474 0.00189804
+v 0.00513389 -0.00001550 0.00180038
+v 0.00526202 0.00025359 0.00189803
+v 0.00521376 0.00025841 0.00189803
+v 0.00500320 0.00029685 0.00189803
+v 0.00481017 0.00035863 0.00189803
+v 0.00466012 0.00041794 0.00189803
+v 0.00454843 0.00049762 0.00189803
+v 0.00451078 0.00052563 0.00189803
+v 0.00438247 0.00062352 0.00189803
+v 0.00427006 0.00074289 0.00189803
+v 0.00526476 0.00157443 0.00189804
+v 0.00472829 0.00157444 0.00115172
+v 0.00406425 0.00142379 0.00075934
+v 0.00360510 0.00103346 0.00075933
+v 0.00360601 0.00103144 0.00075933
+v 0.00419676 -0.00001549 0.00075933
+v 0.00526202 -0.00001550 0.00180216
+v 0.00526476 0.00025359 0.00189803
+v 0.00526476 0.00157443 0.00141436
+v 0.00526202 0.00157443 0.00137623
+v 0.00526476 0.00157412 0.00137590
+v 0.00418012 0.00136434 0.00075934
+v 0.00485551 -0.00001549 0.00075933
+v 0.00526476 -0.00001550 0.00180216
+v 0.00526476 0.00126411 0.00119407
+v 0.00432050 0.00124808 0.00075933
+v 0.00485551 -0.00001393 0.00075933
+v 0.00526476 -0.00001549 0.00102252
+v 0.00526476 0.00108840 0.00111269
+v 0.00443602 0.00114256 0.00075933
+v 0.00485514 0.00011088 0.00075933
+v 0.00526476 0.00011088 0.00102341
+v 0.00526476 0.00097308 0.00108829
+v 0.00469923 0.00072780 0.00075933
+v 0.00463635 0.00084453 0.00075933
+v 0.00452047 0.00102600 0.00075933
+v 0.00485496 0.00011337 0.00075933
+v 0.00526476 0.00034153 0.00103032
+v 0.00526476 0.00033904 0.00103020
+v 0.00526476 0.00097105 0.00108795
+v 0.00476137 0.00057420 0.00075933
+v 0.00482388 0.00034153 0.00075933
+v 0.00526476 0.00057233 0.00104325
+v 0.00526476 0.00080282 0.00106420
+v 0.00482352 0.00034386 0.00075933
+v 0.00476192 0.00057233 0.00075933
+f 1 2 9
+f 1 9 18
+f 1 18 10
+f 1 10 3
+f 1 3 11
+f 1 11 34
+f 1 34 42
+f 1 42 43
+f 1 43 35
+f 1 35 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 3 10 11
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 36
+f 5 36 45
+f 5 45 49
+f 5 49 53
+f 5 53 59
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+f 5 57 64
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+f 5 68 65
+f 5 65 60
+f 5 60 54
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+f 5 37 17
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+f 5 7 6
+f 8 17 18
+f 8 18 9
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+f 10 23 11
+f 10 18 39
+f 10 39 46
+f 10 46 51
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+f 11 23 22
+f 11 22 21
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+f 11 20 19
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+f 11 32 31
+f 11 31 30
+f 11 30 29
+f 11 29 28
+f 11 28 27
+f 11 27 26
+f 11 26 25
+f 11 25 41
+f 11 41 34
+f 15 35 36
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+f 17 37 18
+f 18 37 38
+f 18 38 39
+f 24 40 25
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+f 34 41 47
+f 34 47 51
+f 34 51 55
+f 34 55 62
+f 34 62 61
+f 34 61 66
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+f 34 67 63
+f 34 63 56
+f 34 56 52
+f 34 52 48
+f 34 48 44
+f 34 44 42
+f 35 43 44
+f 35 44 45
+f 35 45 36
+f 42 44 43
+f 44 48 45
+f 45 48 49
+f 46 50 51
+f 48 52 53
+f 48 53 49
+f 50 54 51
+f 51 54 55
+f 52 56 57
+f 52 57 58
+f 52 58 59
+f 52 59 53
+f 54 60 61
+f 54 61 62
+f 54 62 55
+f 56 63 64
+f 56 64 57
+f 60 65 66
+f 60 66 61
+f 63 67 68
+f 63 68 69
+f 63 69 64
+f 65 68 67
+f 65 67 66
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_29.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d727d9a83a5916c0bec84c612b66db796567e637
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_29.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00312135 -0.00171537 0.00174281
+v -0.00312135 -0.00171537 0.00274281
+v -0.00312135 -0.00052417 0.00174281
+v -0.00312135 -0.00052417 0.00274281
+v -0.00047742 -0.00171537 0.00174281
+v -0.00047742 -0.00171537 0.00274281
+v -0.00047742 -0.00052417 0.00174281
+v -0.00047742 -0.00052417 0.00274281
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_3.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29630e6c1b64654bd8d1a96775810870473c0ca5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_3.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00052457 0.00034393 0.00174932
+v 0.00052457 0.00034393 0.00274932
+v 0.00052457 0.00327181 0.00174932
+v 0.00052457 0.00327181 0.00274932
+v 0.00322765 0.00034393 0.00174932
+v 0.00322765 0.00034393 0.00274932
+v 0.00322765 0.00327181 0.00174932
+v 0.00322765 0.00327181 0.00274932
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_30.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ed193dbd0d51c6c2b4e18bdba9379b03970b6d1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_30.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00011543 -0.00171626 0.00087293
+v 0.00011543 -0.00171626 0.00187293
+v 0.00011543 -0.00001549 0.00087293
+v 0.00011543 -0.00001549 0.00187293
+v 0.00313329 -0.00171626 0.00087293
+v 0.00313329 -0.00171626 0.00187293
+v 0.00313329 -0.00001549 0.00087293
+v 0.00313329 -0.00001549 0.00187293
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_31.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f4e1f2a711e9be072449d9834225bd3b6a16114
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_31.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00047284 -0.00171626 0.00172787
+v 0.00047284 -0.00171626 0.00272787
+v 0.00047284 -0.00045465 0.00172787
+v 0.00047284 -0.00045465 0.00272787
+v 0.00317127 -0.00171626 0.00172787
+v 0.00317127 -0.00171626 0.00272787
+v 0.00317127 -0.00045465 0.00172787
+v 0.00317127 -0.00045465 0.00272787
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_32.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a69602fb2f51267c105941b4e66845041f0edf0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_32.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.00630906 0.00357093 -0.00267634
+v -0.00362601 0.00357093 -0.00267533
+v -0.00362601 0.00334045 -0.00267263
+v -0.00573052 0.00334045 -0.00267263
+v -0.00596465 0.00334045 -0.00267230
+v -0.00630906 0.00334045 -0.00267163
+v -0.00630906 0.00380166 -0.00263095
+v -0.00336741 0.00357093 -0.00267499
+v -0.00362601 0.00380166 -0.00262758
+v -0.00336741 0.00334045 -0.00267230
+v -0.00336741 0.00331599 -0.00266894
+v -0.00409368 0.00310973 -0.00263969
+v -0.00432751 0.00310973 -0.00263935
+v -0.00479547 0.00310973 -0.00263835
+v -0.00502902 0.00310973 -0.00263767
+v -0.00526285 0.00310973 -0.00263599
+v -0.00630906 0.00311277 -0.00261347
+v -0.00630906 0.00393206 -0.00256438
+v -0.00336741 0.00391684 -0.00256875
+v -0.00336741 0.00380166 -0.00262725
+v -0.00336741 0.00310973 -0.00263902
+v -0.00362601 0.00310973 -0.00263935
+v -0.00385985 0.00296306 -0.00257648
+v -0.00409368 0.00296270 -0.00257648
+v -0.00432751 0.00296282 -0.00257615
+v -0.00456135 0.00296329 -0.00257581
+v -0.00502902 0.00296517 -0.00257480
+v -0.00526285 0.00296751 -0.00257312
+v -0.00549669 0.00297406 -0.00256707
+v -0.00630906 0.00287620 -0.00243428
+v -0.00630906 0.00396191 -0.00243125
+v -0.00619848 0.00396191 -0.00243125
+v -0.00502902 0.00396144 -0.00243125
+v -0.00336741 0.00396027 -0.00243125
+v -0.00336741 0.00393053 -0.00256169
+v -0.00336741 0.00296423 -0.00257581
+v -0.00339189 0.00296411 -0.00257615
+v -0.00479547 0.00296411 -0.00257514
+v -0.00336741 0.00290417 -0.00243125
+v -0.00630906 0.00278419 -0.00220330
+v -0.00630906 0.00396893 -0.00232366
+v -0.00502902 0.00397712 -0.00220330
+v -0.00479547 0.00397712 -0.00220330
+v -0.00336741 0.00397549 -0.00220330
+v -0.00336741 0.00287116 -0.00220330
+v -0.00336741 0.00287058 -0.00217943
+v -0.00336741 0.00286637 -0.00197570
+v -0.00630906 0.00278384 -0.00217775
+v -0.00630906 0.00397678 -0.00220330
+v -0.00630906 0.00397678 -0.00209573
+v -0.00630906 0.00397641 0.00030170
+v -0.00630906 0.00397630 0.00063723
+v -0.00336741 0.00397454 0.00075825
+v -0.00630906 0.00278209 -0.00197570
+v -0.00336741 0.00286473 -0.00174776
+v -0.00630906 0.00397618 0.00075825
+v -0.00336741 0.00285547 0.00075825
+v -0.00630906 0.00278161 -0.00174776
+v -0.00630906 0.00278430 0.00075825
+v -0.00630906 0.00278149 -0.00129221
+v -0.00630906 0.00278138 -0.00152015
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 17
+f 1 17 30
+f 1 30 40
+f 1 40 48
+f 1 48 54
+f 1 54 58
+f 1 58 61
+f 1 61 60
+f 1 60 59
+f 1 59 56
+f 1 56 52
+f 1 52 51
+f 1 51 50
+f 1 50 49
+f 1 49 41
+f 1 41 31
+f 1 31 18
+f 1 18 7
+f 1 7 2
+f 2 8 10
+f 2 10 3
+f 2 7 9
+f 2 9 20
+f 2 20 8
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 5
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 7 18 19
+f 7 19 9
+f 8 20 19
+f 8 19 35
+f 8 35 34
+f 8 34 44
+f 8 44 53
+f 8 53 57
+f 8 57 55
+f 8 55 47
+f 8 47 46
+f 8 46 45
+f 8 45 39
+f 8 39 36
+f 8 36 21
+f 8 21 11
+f 8 11 10
+f 9 19 20
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 17 29 30
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 21 36 37
+f 21 37 23
+f 21 23 22
+f 23 37 30
+f 23 30 24
+f 24 30 25
+f 25 30 26
+f 26 30 38
+f 26 38 27
+f 27 38 30
+f 27 30 28
+f 28 30 29
+f 30 39 40
+f 30 37 39
+f 31 41 42
+f 31 42 43
+f 31 43 32
+f 32 43 33
+f 33 43 34
+f 34 43 44
+f 36 39 37
+f 39 45 40
+f 40 45 46
+f 40 46 47
+f 40 47 48
+f 41 49 42
+f 42 49 50
+f 42 50 51
+f 42 51 43
+f 43 51 52
+f 43 52 53
+f 43 53 44
+f 47 54 48
+f 47 55 54
+f 52 56 53
+f 53 56 59
+f 53 59 57
+f 54 55 57
+f 54 57 58
+f 57 59 60
+f 57 60 61
+f 57 61 58
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_33.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9537157213cae457420d8243a8ffd963f06ccdfd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_33.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00526204 0.00157443 0.00090646
+v 0.00526204 0.00157443 0.00190646
+v 0.00526204 0.00260350 0.00090646
+v 0.00526204 0.00260350 0.00190646
+v 0.00633668 0.00157443 0.00090646
+v 0.00633668 0.00157443 0.00190646
+v 0.00633668 0.00260350 0.00090646
+v 0.00633668 0.00260350 0.00190646
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_34.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d0fa25982e07f0f82c62f66d9d26ace73d639d1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_34.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.00046519 -0.00196534 0.00189864
+v -0.00047041 -0.00173468 0.00189864
+v -0.00049566 -0.00214170 0.00189864
+v 0.00011514 -0.00282956 0.00177132
+v -0.00047611 -0.00171537 0.00189864
+v 0.00011514 -0.00171537 0.00176050
+v -0.00050544 -0.00219601 0.00189864
+v 0.00011514 -0.00282955 0.00092456
+v -0.00057356 -0.00244217 0.00189864
+v -0.00067477 -0.00265724 0.00189864
+v -0.00079928 -0.00282956 0.00189864
+v -0.00154974 -0.00171537 0.00189864
+v 0.00011514 -0.00171536 0.00078129
+v -0.00011742 -0.00282955 0.00092500
+v -0.00154974 -0.00282956 0.00189864
+v -0.00154974 -0.00171536 0.00123452
+v -0.00011742 -0.00171536 0.00078687
+v -0.00152318 -0.00282955 0.00097040
+v -0.00154974 -0.00282955 0.00097170
+v -0.00130627 -0.00171536 0.00115163
+v -0.00035144 -0.00171536 0.00084418
+f 1 2 5
+f 1 5 12
+f 1 12 15
+f 1 15 11
+f 1 11 10
+f 1 10 9
+f 1 9 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 4
+f 4 8 13
+f 4 13 6
+f 4 7 9
+f 4 9 10
+f 4 10 11
+f 4 11 15
+f 4 15 19
+f 4 19 18
+f 4 18 14
+f 4 14 8
+f 5 6 13
+f 5 13 17
+f 5 17 21
+f 5 21 20
+f 5 20 16
+f 5 16 12
+f 8 14 13
+f 12 16 19
+f 12 19 15
+f 13 14 17
+f 14 18 17
+f 16 20 19
+f 17 18 19
+f 17 19 21
+f 19 20 21
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_35.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02257d03755b1e08bec9f71bb50a7d7d2b72bea7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_35.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00610224 -0.00306225 0.00081944
+v -0.00610224 -0.00306225 0.00258021
+v -0.00610224 -0.00206225 0.00081944
+v -0.00610224 -0.00206225 0.00258021
+v -0.00336914 -0.00306225 0.00081944
+v -0.00336914 -0.00306225 0.00258021
+v -0.00336914 -0.00206225 0.00081944
+v -0.00336914 -0.00206225 0.00258021
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_36.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69daec83355c4a8a866bb45454791e70f940bf54
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_36.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00633639 0.00398024 0.00075708
+v 0.00633639 0.00398009 0.00144076
+v 0.00633639 0.00281441 0.00075708
+v 0.00360633 0.00397875 0.00075708
+v 0.00362503 0.00397888 0.00098530
+v 0.00456066 0.00397941 0.00144076
+v 0.00633639 0.00394856 0.00162540
+v 0.00456066 0.00394829 0.00162697
+v 0.00633639 0.00260350 0.00091304
+v 0.00339746 0.00286508 0.00075708
+v 0.00339746 0.00397848 0.00075708
+v 0.00339746 0.00397861 0.00097903
+v 0.00339746 0.00397875 0.00120682
+v 0.00362503 0.00397888 0.00121309
+v 0.00339746 0.00397875 0.00121309
+v 0.00339746 0.00397847 0.00144076
+v 0.00633639 0.00385274 0.00173924
+v 0.00479456 0.00394829 0.00162686
+v 0.00479456 0.00385490 0.00174069
+v 0.00339746 0.00394761 0.00162518
+v 0.00339746 0.00260350 0.00100581
+v 0.00633639 0.00260349 0.00190158
+v 0.00633639 0.00380584 0.00176310
+v 0.00456066 0.00385395 0.00174080
+v 0.00479456 0.00373954 0.00179772
+v 0.00633639 0.00373739 0.00179749
+v 0.00339746 0.00384910 0.00173588
+v 0.00339746 0.00260349 0.00178775
+v 0.00633639 0.00282585 0.00190158
+v 0.00416218 0.00260349 0.00190158
+v 0.00456066 0.00373859 0.00179716
+v 0.00339746 0.00384627 0.00173901
+v 0.00526209 0.00329577 0.00190158
+v 0.00541976 0.00329254 0.00190158
+v 0.00549600 0.00329025 0.00190158
+v 0.00561798 0.00326895 0.00190158
+v 0.00580327 0.00321801 0.00190158
+v 0.00598970 0.00313014 0.00190158
+v 0.00611975 0.00303837 0.00190158
+v 0.00625469 0.00293515 0.00190158
+v 0.00339746 0.00357095 0.00180332
+v 0.00418837 0.00264838 0.00190158
+v 0.00339746 0.00373415 0.00179268
+v 0.00339746 0.00373091 0.00179413
+v 0.00502819 0.00325090 0.00190158
+v 0.00339746 0.00357540 0.00180310
+v 0.00434862 0.00284904 0.00190158
+v 0.00435236 0.00285361 0.00190158
+v 0.00456066 0.00302463 0.00190158
+v 0.00478622 0.00316855 0.00190158
+f 1 2 7
+f 1 7 17
+f 1 17 23
+f 1 23 26
+f 1 26 29
+f 1 29 22
+f 1 22 9
+f 1 9 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 15
+f 5 15 14
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 6 16 8
+f 7 8 18
+f 7 18 19
+f 7 19 17
+f 8 16 20
+f 8 20 19
+f 8 19 18
+f 9 21 10
+f 9 22 30
+f 9 30 28
+f 9 28 21
+f 10 21 28
+f 10 28 41
+f 10 41 46
+f 10 46 44
+f 10 44 43
+f 10 43 32
+f 10 32 27
+f 10 27 20
+f 10 20 16
+f 10 16 15
+f 10 15 13
+f 10 13 12
+f 10 12 11
+f 17 19 23
+f 19 20 24
+f 19 24 25
+f 19 25 26
+f 19 26 23
+f 20 27 24
+f 22 29 40
+f 22 40 39
+f 22 39 38
+f 22 38 37
+f 22 37 36
+f 22 36 35
+f 22 35 34
+f 22 34 33
+f 22 33 45
+f 22 45 50
+f 22 50 49
+f 22 49 48
+f 22 48 47
+f 22 47 42
+f 22 42 30
+f 24 31 25
+f 24 27 32
+f 24 32 31
+f 25 31 33
+f 25 33 26
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 29
+f 28 30 41
+f 30 42 41
+f 31 32 43
+f 31 43 44
+f 31 44 33
+f 33 44 45
+f 41 42 46
+f 42 47 46
+f 44 46 48
+f 44 48 49
+f 44 49 50
+f 44 50 45
+f 46 47 48
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_37.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6135305d5e27db46073e52f930be19f99230368c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_37.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.00530457 -0.00284604 0.00259064
+v 0.00502826 -0.00284604 0.00258643
+v 0.00553855 -0.00284604 0.00258929
+v 0.00613412 -0.00225870 0.00258963
+v 0.00479450 -0.00265727 0.00258862
+v 0.00478376 -0.00284604 0.00255040
+v 0.00577232 -0.00284604 0.00256521
+v 0.00596375 -0.00265727 0.00258037
+v 0.00613412 -0.00248928 0.00257531
+v 0.00613412 -0.00171626 0.00258273
+v 0.00432655 -0.00173462 0.00257667
+v 0.00432655 -0.00196531 0.00257683
+v 0.00456053 -0.00242658 0.00258239
+v 0.00453925 -0.00267806 0.00254046
+v 0.00462248 -0.00284604 0.00251218
+v 0.00594785 -0.00284604 0.00251992
+v 0.00601621 -0.00284604 0.00250039
+v 0.00610955 -0.00279982 0.00248962
+v 0.00613412 -0.00264876 0.00253221
+v 0.00613412 -0.00171625 0.00105254
+v 0.00434534 -0.00171626 0.00257582
+v 0.00432655 -0.00171626 0.00257531
+v 0.00416134 -0.00173462 0.00251386
+v 0.00416134 -0.00196531 0.00251369
+v 0.00432655 -0.00219600 0.00256286
+v 0.00431808 -0.00242182 0.00252346
+v 0.00439036 -0.00261491 0.00250477
+v 0.00460306 -0.00283875 0.00250898
+v 0.00459687 -0.00284604 0.00248507
+v 0.00606804 -0.00284604 0.00244314
+v 0.00610128 -0.00284604 0.00235189
+v 0.00613247 -0.00282127 0.00235189
+v 0.00613412 -0.00281950 0.00235189
+v 0.00613412 -0.00275393 0.00249736
+v 0.00613412 -0.00284603 0.00089982
+v 0.00526203 -0.00284603 0.00087070
+v 0.00402442 -0.00171625 0.00102931
+v 0.00417456 -0.00171626 0.00251739
+v 0.00416279 -0.00171626 0.00251251
+v 0.00409526 -0.00173462 0.00235189
+v 0.00409484 -0.00196531 0.00235189
+v 0.00417745 -0.00219600 0.00249971
+v 0.00419686 -0.00234176 0.00248086
+v 0.00444715 -0.00276875 0.00244752
+v 0.00402442 -0.00284604 0.00180349
+v 0.00613412 -0.00284604 0.00209612
+v 0.00511170 -0.00284603 0.00087070
+v 0.00502826 -0.00284603 0.00087137
+v 0.00402442 -0.00284603 0.00091464
+v 0.00402442 -0.00171626 0.00158865
+v 0.00409815 -0.00171626 0.00235189
+v 0.00402442 -0.00171659 0.00193836
+v 0.00402442 -0.00173462 0.00194071
+v 0.00402442 -0.00196531 0.00194155
+v 0.00402442 -0.00196608 0.00194155
+v 0.00402442 -0.00219600 0.00191344
+v 0.00402442 -0.00250101 0.00187421
+v 0.00402670 -0.00171626 0.00193987
+f 1 2 6
+f 1 6 15
+f 1 15 29
+f 1 29 45
+f 1 45 49
+f 1 49 48
+f 1 48 47
+f 1 47 36
+f 1 36 35
+f 1 35 46
+f 1 46 31
+f 1 31 30
+f 1 30 17
+f 1 17 16
+f 1 16 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 19
+f 4 19 34
+f 4 34 33
+f 4 33 46
+f 4 46 35
+f 4 35 20
+f 4 20 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
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diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_38.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a2d093cf4f4c4b873def7dbbdd779a7f78f2b30
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_38.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_39.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d20b287867da887ac33881516244a06c6e7c54da
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_39.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_4.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ef2d5c66ecd1f5c8e36e397013deec7ccad36ca
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_4.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_40.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dc3e33930c9fbc42743b3222c656b63c9492fb9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_40.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.00634505 -0.00001550 0.00180515
+v 0.00634505 0.00097494 0.00249169
+v 0.00632623 0.00090148 0.00247751
+v 0.00610353 0.00066835 0.00248286
+v 0.00596373 0.00062461 0.00250916
+v 0.00566056 0.00044345 0.00248131
+v 0.00549602 0.00042960 0.00249671
+v 0.00526476 0.00042867 0.00249774
+v 0.00549602 -0.00001550 0.00180481
+v 0.00634505 -0.00001549 0.00081487
+v 0.00634505 0.00101463 0.00250328
+v 0.00618802 0.00081588 0.00250743
+v 0.00596373 0.00080281 0.00256901
+v 0.00573511 0.00055644 0.00252455
+v 0.00549602 0.00057232 0.00255897
+v 0.00526476 0.00057232 0.00255967
+v 0.00526476 -0.00001550 0.00180222
+v 0.00526476 -0.00001549 0.00102262
+v 0.00526476 0.00011088 0.00102348
+v 0.00634505 0.00011088 0.00081644
+v 0.00634505 0.00103345 0.00250847
+v 0.00619764 0.00103345 0.00256278
+v 0.00619764 0.00126410 0.00258198
+v 0.00572993 0.00080281 0.00258060
+v 0.00526476 0.00057481 0.00255984
+v 0.00526476 0.00033904 0.00103023
+v 0.00634505 0.00034153 0.00082837
+v 0.00634505 0.00119578 0.00253666
+v 0.00634505 0.00126410 0.00254237
+v 0.00619764 0.00149474 0.00258078
+v 0.00634505 0.00138892 0.00254809
+v 0.00634505 0.00157443 0.00255432
+v 0.00627822 0.00157443 0.00256902
+v 0.00619764 0.00157443 0.00257975
+v 0.00526476 0.00080281 0.00256953
+v 0.00526476 0.00057233 0.00104320
+v 0.00634505 0.00157444 0.00090484
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+v 0.00526476 0.00080017 0.00106396
+v 0.00526476 0.00080282 0.00106430
+v 0.00526476 0.00097105 0.00108800
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+v 0.00526476 0.00108840 0.00111274
+v 0.00526476 0.00126411 0.00119421
+v 0.00526476 0.00157412 0.00137602
+v 0.00588633 0.00157444 0.00110963
+v 0.00526476 0.00157443 0.00141459
+v 0.00572993 0.00157444 0.00118470
+f 1 2 3
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+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_41.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..267aa29c6fd9619ccc59e398fb9786ea89718589
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_41.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00289274 -0.00359770 0.00173237
+v -0.00289274 -0.00359770 0.00273237
+v -0.00289274 -0.00259770 0.00173237
+v -0.00289274 -0.00259770 0.00273237
+v -0.00076883 -0.00359770 0.00173237
+v -0.00076883 -0.00359770 0.00273237
+v -0.00076883 -0.00259770 0.00173237
+v -0.00076883 -0.00259770 0.00273237
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_42.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..671f9769cfd3f834fcaf8c8898d6b2d162812210
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_42.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00723435 -0.00194280 -0.00267225
+v -0.00723435 -0.00194280 0.00254549
+v -0.00723435 -0.00094280 -0.00267225
+v -0.00723435 -0.00094280 0.00254549
+v -0.00623435 -0.00194280 -0.00267225
+v -0.00623435 -0.00194280 0.00254549
+v -0.00623435 -0.00094280 -0.00267225
+v -0.00623435 -0.00094280 0.00254549
+f 2 4 1
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+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_43.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1649d9177598e6a5af6f50babed88c9e974f8373
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_43.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00269007 -0.00196534 0.00258775
+v -0.00269007 -0.00173468 0.00258691
+v -0.00289933 -0.00196534 0.00252844
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+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_44.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aae9ec36a7e14226fa6554529e48d94fe3069829
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_44.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.00714395 -0.00001549 0.00098533
+v 0.00714379 -0.00035061 0.00075862
+v 0.00714379 -0.00001549 0.00075862
+v 0.00714379 -0.00001549 0.00121307
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+v 0.00714363 -0.00127325 0.00075862
+v 0.00635335 -0.00001549 0.00075862
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+v 0.00635271 -0.00035061 0.00075862
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+v 0.00594393 -0.00060500 0.00192424
+v 0.00607755 -0.00068509 0.00192424
+v 0.00633802 -0.00090716 0.00192424
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+f 46 49 54
+f 46 54 55
+f 46 55 56
+f 46 56 47
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_45.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aff78bef103b5be00ce714b30682c21a33a5615e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_45.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.00198832 -0.00001549 0.00099807
+v 0.00198832 -0.00001549 0.00099302
+v 0.00198832 -0.00001512 0.00176431
+v 0.00198754 -0.00001550 0.00176431
+v 0.00172867 -0.00001549 0.00075970
+v 0.00172886 -0.00001375 0.00075970
+v 0.00173059 0.00011100 0.00075970
+v 0.00198832 0.00011100 0.00099347
+v 0.00198832 0.00034485 0.00190719
+v 0.00175361 -0.00001550 0.00176352
+v 0.00176482 0.00034407 0.00190719
+v 0.00175361 0.00034407 0.00190719
+v 0.00108233 -0.00001549 0.00075970
+v 0.00173040 0.00011390 0.00075970
+v 0.00198832 0.00034157 0.00099976
+v 0.00198832 0.00195735 0.00190720
+v 0.00162561 -0.00001550 0.00176307
+v 0.00153938 0.00037401 0.00190719
+v 0.00001316 -0.00001550 0.00175431
+v 0.00001316 -0.00001549 0.00101571
+v 0.00001316 0.00105166 0.00075970
+v 0.00170585 0.00034157 0.00075970
+v 0.00198832 0.00057235 0.00101560
+v 0.00198832 0.00195736 0.00124623
+v 0.00053865 0.00195735 0.00190720
+v 0.00153803 0.00037420 0.00190719
+v 0.00138142 0.00044179 0.00190719
+v 0.00128592 0.00048930 0.00190719
+v 0.00111036 0.00058083 0.00190719
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+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_46.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00356887a4f249647d7f510612c0227d377a2636
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_46.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00154974 -0.00282956 0.00174073
+v -0.00154974 -0.00282956 0.00274073
+v -0.00154974 -0.00171537 0.00174073
+v -0.00154974 -0.00171537 0.00274073
+v -0.00046518 -0.00282956 0.00174073
+v -0.00046518 -0.00282956 0.00274073
+v -0.00046518 -0.00171537 0.00174073
+v -0.00046518 -0.00171537 0.00274073
+f 2 4 1
+f 5 2 1
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+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_47.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4323f8b69683a9141ddb45d59f6e14a54cfd0e5f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_47.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00400515 -0.00171626 0.00176009
+v 0.00400515 -0.00171626 0.00276009
+v 0.00400515 -0.00047690 0.00176009
+v 0.00400515 -0.00047690 0.00276009
+v 0.00667815 -0.00171626 0.00176009
+v 0.00667815 -0.00171626 0.00276009
+v 0.00667815 -0.00047690 0.00176009
+v 0.00667815 -0.00047690 0.00276009
+f 2 4 1
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+f 6 2 5
+f 6 8 2
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+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_48.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15210dd96b27c724355682faf0e64405e18af59a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_48.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00519262 0.00152951 0.00095762
+v -0.00519262 0.00152951 0.00196948
+v -0.00519262 0.00252951 0.00095762
+v -0.00519262 0.00252951 0.00196948
+v -0.00336730 0.00152951 0.00095762
+v -0.00336730 0.00152951 0.00196948
+v -0.00336730 0.00252951 0.00095762
+v -0.00336730 0.00252951 0.00196948
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+f 6 2 5
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+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_49.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5705b8375728454c623f0731d439078405476aa6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_49.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.00505865 -0.00001549 0.00101099
+v -0.00505865 -0.00001550 0.00177498
+v -0.00484141 -0.00001549 0.00081954
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+v -0.00505865 -0.00124930 0.00112958
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+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_5.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b62fea98b757c480082c83f2cc8ea0343871adef
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_5.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.00042391 -0.00171625 0.00087463
+v 0.00048292 -0.00170226 0.00087463
+v 0.00011514 -0.00171625 0.00087463
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+f 17 27 18
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+f 19 31 32
+f 19 32 29
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+f 22 35 53
+f 22 53 69
+f 22 69 90
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+f 27 44 28
+f 28 44 31
+f 29 32 45
+f 29 45 46
+f 29 46 47
+f 29 47 48
+f 29 48 49
+f 29 49 50
+f 29 50 34
+f 29 34 30
+f 31 44 45
+f 31 45 32
+f 33 34 50
+f 33 50 51
+f 35 52 53
+f 37 54 38
+f 38 54 55
+f 40 56 41
+f 41 56 57
+f 41 57 43
+f 41 43 42
+f 43 57 58
+f 43 58 44
+f 44 58 59
+f 44 59 46
+f 44 46 45
+f 46 59 60
+f 46 60 61
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+f 46 63 47
+f 47 63 48
+f 48 63 64
+f 48 64 65
+f 48 65 66
+f 48 66 51
+f 48 51 49
+f 49 51 50
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+f 53 67 68
+f 53 68 69
+f 54 70 71
+f 54 71 55
+f 56 72 57
+f 57 73 74
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+f 59 74 60
+f 60 74 75
+f 60 75 61
+f 61 75 76
+f 61 76 77
+f 61 77 78
+f 61 78 79
+f 61 79 80
+f 61 80 62
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+f 63 81 82
+f 63 82 83
+f 63 83 64
+f 63 80 81
+f 64 83 84
+f 64 84 65
+f 67 85 68
+f 68 86 81
+f 68 81 87
+f 68 87 88
+f 68 88 69
+f 68 85 86
+f 69 88 89
+f 69 89 90
+f 70 91 92
+f 70 92 71
+f 72 92 93
+f 72 93 73
+f 73 94 95
+f 73 95 76
+f 73 76 75
+f 73 75 74
+f 73 93 94
+f 76 95 77
+f 77 88 87
+f 77 87 81
+f 77 81 78
+f 77 95 89
+f 77 89 88
+f 78 81 79
+f 79 81 80
+f 81 96 82
+f 81 86 85
+f 81 85 97
+f 81 97 96
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+f 82 98 84
+f 82 84 83
+f 89 95 99
+f 89 99 100
+f 89 100 101
+f 89 101 90
+f 91 93 92
+f 94 100 99
+f 94 99 95
+f 96 97 98
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_50.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e39d3aae7d14c0b20ce74ebae2c22d48ccde197a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_50.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.00624230 0.00157022 0.00095594
+v -0.00469761 0.00072133 0.00076857
+v -0.00475053 0.00057232 0.00076857
+v -0.00480626 0.00034151 0.00076857
+v -0.00624230 0.00111202 0.00094614
+v -0.00624230 0.00157021 0.00190516
+v -0.00385969 0.00157022 0.00095772
+v -0.00385969 0.00146638 0.00076858
+v -0.00387489 0.00146359 0.00076858
+v -0.00407219 0.00142603 0.00076858
+v -0.00418731 0.00136720 0.00076858
+v -0.00419830 0.00136099 0.00076857
+v -0.00434888 0.00123806 0.00076857
+v -0.00451297 0.00105397 0.00076857
+v -0.00464470 0.00083029 0.00076857
+v -0.00482934 0.00011085 0.00076857
+v -0.00624230 0.00042300 0.00093312
+v -0.00624230 0.00065257 0.00093679
+v -0.00624230 0.00070114 0.00190515
+v -0.00394244 0.00157021 0.00190516
+v -0.00362664 0.00157022 0.00097429
+v -0.00336712 0.00157022 0.00101802
+v -0.00367983 0.00142354 0.00076858
+v -0.00482934 0.00009518 0.00076857
+v -0.00624230 0.00019281 0.00093189
+v -0.00624230 0.00034151 0.00093256
+v -0.00624230 -0.00001550 0.00179779
+v -0.00614689 0.00062152 0.00190515
+v -0.00395004 0.00149477 0.00190516
+v -0.00336712 -0.00001550 0.00176130
+v -0.00336712 0.00157021 0.00177366
+v -0.00336712 0.00125326 0.00095715
+v -0.00349407 0.00117100 0.00076857
+v -0.00356978 0.00129331 0.00076857
+v -0.00482878 -0.00001549 0.00076857
+v -0.00624230 0.00011085 0.00093201
+v -0.00526280 0.00033157 0.00190515
+v -0.00551950 0.00033716 0.00190515
+v -0.00568359 0.00037922 0.00190515
+v -0.00583108 0.00042625 0.00190515
+v -0.00602529 0.00052155 0.00190515
+v -0.00624230 -0.00001549 0.00093278
+v -0.00401365 0.00126412 0.00190515
+v -0.00336712 -0.00001549 0.00100933
+v -0.00408683 0.00104433 0.00190515
+v -0.00409105 0.00103315 0.00190515
+v -0.00427232 0.00078434 0.00190515
+v -0.00430018 0.00075097 0.00190515
+v -0.00453689 0.00055477 0.00190515
+v -0.00479528 0.00041631 0.00190515
+v -0.00504016 0.00034554 0.00190515
+v -0.00504635 0.00034445 0.00190515
+v -0.00525717 0.00033188 0.00190515
+v -0.00336712 0.00121492 0.00095604
+v -0.00349407 0.00113095 0.00076857
+v -0.00419632 -0.00001549 0.00076857
+v -0.00336712 0.00100771 0.00095748
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 18
+f 1 18 17
+f 1 17 26
+f 1 26 25
+f 1 25 36
+f 1 36 42
+f 1 42 27
+f 1 27 19
+f 1 19 6
+f 1 6 20
+f 1 20 31
+f 1 31 22
+f 1 22 21
+f 1 21 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 14
+f 1 14 15
+f 1 15 2
+f 2 15 14
+f 2 14 13
+f 2 13 12
+f 2 12 11
+f 2 11 10
+f 2 10 9
+f 2 9 8
+f 2 8 23
+f 2 23 34
+f 2 34 33
+f 2 33 55
+f 2 55 56
+f 2 56 35
+f 2 35 24
+f 2 24 16
+f 2 16 4
+f 2 4 3
+f 4 16 17
+f 4 17 18
+f 4 18 5
+f 6 19 28
+f 6 28 41
+f 6 41 40
+f 6 40 39
+f 6 39 38
+f 6 38 37
+f 6 37 53
+f 6 53 52
+f 6 52 51
+f 6 51 50
+f 6 50 49
+f 6 49 48
+f 6 48 47
+f 6 47 46
+f 6 46 45
+f 6 45 43
+f 6 43 29
+f 6 29 20
+f 7 21 8
+f 8 21 22
+f 8 22 23
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 19 27 28
+f 20 29 30
+f 20 30 31
+f 22 31 30
+f 22 30 44
+f 22 44 57
+f 22 57 54
+f 22 54 32
+f 22 32 33
+f 22 33 34
+f 22 34 23
+f 24 35 25
+f 25 35 36
+f 27 37 38
+f 27 38 39
+f 27 39 40
+f 27 40 41
+f 27 41 28
+f 27 42 35
+f 27 35 56
+f 27 56 44
+f 27 44 30
+f 27 30 37
+f 29 43 30
+f 30 43 45
+f 30 45 46
+f 30 46 47
+f 30 47 48
+f 30 48 49
+f 30 49 50
+f 30 50 51
+f 30 51 52
+f 30 52 53
+f 30 53 37
+f 32 54 33
+f 33 54 55
+f 35 42 36
+f 44 56 55
+f 44 55 57
+f 54 57 55
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_51.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee5ac832223fabac740d8fe93966dd9c1a3e59e4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_51.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00422078 -0.00363162 0.00172891
+v 0.00422078 -0.00363162 0.00272891
+v 0.00422078 -0.00263162 0.00172891
+v 0.00422078 -0.00263162 0.00272891
+v 0.00613394 -0.00363162 0.00172891
+v 0.00613394 -0.00363162 0.00272891
+v 0.00613394 -0.00263162 0.00172891
+v 0.00613394 -0.00263162 0.00272891
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_52.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5bab09afc4eef6a759370ea3fce60bc7b39f429
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_52.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00632324 -0.00171537 0.00167839
+v -0.00632324 -0.00171537 0.00267839
+v -0.00632324 -0.00022292 0.00167839
+v -0.00632324 -0.00022292 0.00267839
+v -0.00375968 -0.00171537 0.00167839
+v -0.00375968 -0.00171537 0.00267839
+v -0.00375968 -0.00022292 0.00167839
+v -0.00375968 -0.00022292 0.00267839
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_53.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3be3729e74625efaf75d2691e6ab7080357718e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_53.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.00505881 -0.00171537 0.00193458
+v -0.00632324 -0.00171537 0.00193458
+v -0.00505881 -0.00171536 0.00124792
+v -0.00505881 -0.00052400 0.00193459
+v -0.00632324 -0.00171536 0.00091633
+v -0.00632324 -0.00110138 0.00193459
+v -0.00505881 -0.00150388 0.00117719
+v -0.00505881 -0.00001550 0.00177505
+v -0.00533695 -0.00001550 0.00178063
+v -0.00562177 -0.00001550 0.00178631
+v -0.00619847 -0.00001550 0.00179718
+v -0.00632324 -0.00001550 0.00179893
+v -0.00526305 -0.00052017 0.00193459
+v -0.00505881 -0.00081202 0.00107309
+v -0.00505881 -0.00124930 0.00112954
+v -0.00505881 -0.00127308 0.00113275
+v -0.00505881 -0.00147459 0.00116996
+v -0.00632324 -0.00058122 0.00088800
+v -0.00505881 -0.00011998 0.00101074
+v -0.00505881 -0.00035060 0.00102211
+v -0.00505881 -0.00058122 0.00104476
+v -0.00627398 -0.00102717 0.00193459
+v -0.00505881 -0.00001549 0.00101095
+v -0.00621022 -0.00096095 0.00193459
+v -0.00603384 -0.00080387 0.00193459
+v -0.00598185 -0.00076094 0.00193459
+v -0.00573515 -0.00060653 0.00193459
+v -0.00572376 -0.00060087 0.00193459
+v -0.00549700 -0.00054430 0.00193459
+v -0.00632324 -0.00001549 0.00087839
+v -0.00632324 -0.00035060 0.00088356
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 21
+f 1 21 20
+f 1 20 19
+f 1 19 23
+f 1 23 8
+f 1 8 4
+f 1 4 13
+f 1 13 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 22
+f 1 22 6
+f 1 6 2
+f 2 6 12
+f 2 12 30
+f 2 30 31
+f 2 31 18
+f 2 18 5
+f 3 5 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 7
+f 5 18 19
+f 5 19 20
+f 5 20 21
+f 5 21 14
+f 6 22 12
+f 8 23 30
+f 8 30 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 12 22 24
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 13
+f 18 31 19
+f 19 31 30
+f 19 30 23
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_54.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9497201653e275a6de8f2b0a04492883c660c15e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_54.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00610224 -0.00250510 0.00102011
+v -0.00610224 -0.00250510 0.00257961
+v -0.00610224 -0.00150510 0.00102011
+v -0.00610224 -0.00150510 0.00257961
+v -0.00336914 -0.00250510 0.00102011
+v -0.00336914 -0.00250510 0.00257961
+v -0.00336914 -0.00150510 0.00102011
+v -0.00336914 -0.00150510 0.00257961
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_55.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bda7ac8ac5d28496581ca9da2b8b876f8246570
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_55.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00310438 -0.00284604 0.00091337
+v 0.00310438 -0.00284604 0.00194169
+v 0.00310438 -0.00171625 0.00091337
+v 0.00310438 -0.00171625 0.00194169
+v 0.00410439 -0.00284604 0.00091337
+v 0.00410439 -0.00284604 0.00194169
+v 0.00410439 -0.00171625 0.00091337
+v 0.00410439 -0.00171625 0.00194169
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_56.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..491b5d199290f4dab4ec00210c87f1c1d455070d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_56.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00630906 0.00152951 0.00089520
+v -0.00630906 0.00152951 0.00196937
+v -0.00630906 0.00252951 0.00089520
+v -0.00630906 0.00252951 0.00196937
+v -0.00519262 0.00152951 0.00089520
+v -0.00519262 0.00152951 0.00196937
+v -0.00519262 0.00252951 0.00089520
+v -0.00519262 0.00252951 0.00196937
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_57.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..512ea6d3a4dfdf377adee24a24f032fb206af212
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_57.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00336712 0.00197242 0.00090012
+v -0.00336712 0.00197242 0.00190012
+v -0.00336712 0.00297242 0.00090012
+v -0.00336712 0.00297242 0.00190012
+v 0.00001282 0.00197242 0.00090012
+v 0.00001282 0.00197242 0.00190012
+v 0.00001282 0.00297242 0.00090012
+v 0.00001282 0.00297242 0.00190012
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_58.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..100940db853854fcc35ec8d0cbaddd2f2db39df3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_58.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.00182808 -0.00001549 0.00094772
+v -0.00182808 -0.00001550 0.00175995
+v -0.00170540 -0.00001549 0.00075871
+v -0.00170654 -0.00011998 0.00075871
+v -0.00182808 -0.00011998 0.00094604
+v -0.00182808 -0.00053099 0.00189993
+v -0.00175447 -0.00052433 0.00189993
+v 0.00011514 -0.00001617 0.00175436
+v -0.00175447 -0.00001550 0.00175973
+v -0.00109310 -0.00001549 0.00075871
+v -0.00170654 -0.00012149 0.00075871
+v -0.00182808 -0.00035060 0.00095374
+v -0.00182808 -0.00171537 0.00189992
+v -0.00153136 -0.00053348 0.00189993
+v -0.00087892 -0.00087076 0.00189993
+v -0.00074140 -0.00102118 0.00189993
+v -0.00066188 -0.00111885 0.00189993
+v -0.00058048 -0.00128458 0.00189993
+v -0.00052113 -0.00150389 0.00189992
+v -0.00047757 -0.00171537 0.00189992
+v 0.00011514 -0.00171537 0.00176050
+v 0.00011514 -0.00001550 0.00174487
+v -0.00001174 -0.00001550 0.00175425
+v -0.00151043 -0.00053514 0.00189993
+v -0.00128255 -0.00058855 0.00189993
+v -0.00126182 -0.00059604 0.00189993
+v -0.00113286 -0.00065844 0.00189993
+v -0.00104213 -0.00073066 0.00189993
+v -0.00101188 -0.00075529 0.00189993
+v 0.00011514 -0.00001549 0.00101574
+v 0.00011475 -0.00106110 0.00075871
+v -0.00166393 -0.00036941 0.00075871
+v -0.00182808 -0.00056808 0.00097664
+v -0.00182808 -0.00171536 0.00126463
+v 0.00011514 -0.00171536 0.00078137
+v 0.00011514 -0.00106226 0.00075871
+v -0.00166355 -0.00037074 0.00075871
+v -0.00182808 -0.00150388 0.00117872
+v -0.00182808 -0.00126760 0.00112276
+v -0.00119695 -0.00118473 0.00075871
+v -0.00106039 -0.00130054 0.00075871
+v -0.00094416 -0.00139472 0.00075870
+v -0.00081919 -0.00146959 0.00075870
+v -0.00061586 -0.00157959 0.00075870
+v -0.00049964 -0.00163549 0.00075870
+v -0.00035145 -0.00167343 0.00075870
+v -0.00035145 -0.00171536 0.00084426
+v -0.00011749 -0.00171536 0.00078685
+v 0.00011514 -0.00170604 0.00075870
+v -0.00159754 -0.00055877 0.00075871
+v -0.00159622 -0.00056242 0.00075871
+v -0.00146040 -0.00083298 0.00075871
+v -0.00144937 -0.00085295 0.00075871
+v -0.00140562 -0.00092982 0.00075871
+v -0.00134570 -0.00100503 0.00075871
+v -0.00133525 -0.00101784 0.00075871
+v -0.00133030 -0.00102383 0.00075871
+v -0.00011749 -0.00170355 0.00075870
+v -0.00010551 -0.00170371 0.00075870
+f 1 2 9
+f 1 9 23
+f 1 23 22
+f 1 22 30
+f 1 30 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 33
+f 1 33 39
+f 1 39 38
+f 1 38 34
+f 1 34 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 3 10 31
+f 3 31 36
+f 3 36 49
+f 3 49 59
+f 3 59 58
+f 3 58 46
+f 3 46 45
+f 3 45 44
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+f 3 43 42
+f 3 42 41
+f 3 41 40
+f 3 40 57
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+f 3 51 50
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+f 6 24 14
+f 6 14 7
+f 7 14 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
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+f 8 19 20
+f 8 20 21
+f 8 21 35
+f 8 35 49
+f 8 49 36
+f 8 36 30
+f 8 30 22
+f 8 22 23
+f 8 23 9
+f 8 14 24
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 28
+f 8 28 29
+f 8 29 15
+f 10 30 31
+f 11 32 33
+f 11 33 12
+f 13 34 47
+f 13 47 48
+f 13 48 35
+f 13 35 21
+f 13 21 20
+f 30 36 31
+f 32 37 38
+f 32 38 39
+f 32 39 33
+f 34 38 40
+f 34 40 41
+f 34 41 42
+f 34 42 43
+f 34 43 44
+f 34 44 45
+f 34 45 46
+f 34 46 47
+f 35 48 49
+f 37 50 38
+f 38 50 51
+f 38 51 52
+f 38 52 53
+f 38 53 54
+f 38 54 55
+f 38 55 56
+f 38 56 57
+f 38 57 40
+f 46 58 47
+f 47 58 48
+f 48 58 59
+f 48 59 49
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_59.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5769d8ea08c6fefc28f3f2358c7320cc48f15b45
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_59.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00610206 -0.00360950 0.00172960
+v -0.00610206 -0.00360950 0.00272960
+v -0.00610206 -0.00260950 0.00172960
+v -0.00610206 -0.00260950 0.00272960
+v -0.00420472 -0.00360950 0.00172960
+v -0.00420472 -0.00360950 0.00272960
+v -0.00420472 -0.00260950 0.00172960
+v -0.00420472 -0.00260950 0.00272960
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_6.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e7a3a244c8a8cd888acadc0f03c9bbc649ff6ef
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_6.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.00613422 -0.00287975 0.00202256
+v 0.00702088 -0.00287975 0.00178569
+v 0.00613422 -0.00281950 0.00235180
+v 0.00613422 -0.00287974 0.00080880
+v 0.00708484 -0.00287975 0.00166854
+v 0.00702128 -0.00265731 0.00178621
+v 0.00655674 -0.00192607 0.00247669
+v 0.00654844 -0.00207995 0.00246481
+v 0.00636377 -0.00242655 0.00250765
+v 0.00632818 -0.00256129 0.00247978
+v 0.00613422 -0.00275390 0.00249732
+v 0.00613422 -0.00171625 0.00105238
+v 0.00619907 -0.00287973 -0.00220340
+v 0.00708533 -0.00265731 0.00166854
+v 0.00714169 -0.00287975 0.00144870
+v 0.00708533 -0.00242655 0.00166854
+v 0.00702118 -0.00242655 0.00178569
+v 0.00702078 -0.00219601 0.00178569
+v 0.00655595 -0.00173471 0.00247566
+v 0.00643159 -0.00173471 0.00254635
+v 0.00645492 -0.00198791 0.00252880
+v 0.00641201 -0.00219601 0.00253190
+v 0.00701999 -0.00171626 0.00178517
+v 0.00619768 -0.00242655 0.00257318
+v 0.00619176 -0.00264580 0.00251591
+v 0.00613422 -0.00264877 0.00253190
+v 0.00613422 -0.00171626 0.00258247
+v 0.00636110 -0.00171624 -0.00243099
+v 0.00620016 -0.00287973 -0.00220753
+v 0.00714396 -0.00242655 0.00144045
+v 0.00714376 -0.00287975 0.00144045
+v 0.00714386 -0.00265731 0.00144045
+v 0.00714396 -0.00196536 0.00144045
+v 0.00714386 -0.00171626 0.00144045
+v 0.00708385 -0.00173471 0.00166854
+v 0.00655516 -0.00171626 0.00247462
+v 0.00643247 -0.00171626 0.00254429
+v 0.00619768 -0.00171626 0.00259486
+v 0.00619768 -0.00196536 0.00259537
+v 0.00619768 -0.00219601 0.00259383
+v 0.00708375 -0.00171626 0.00166854
+v 0.00613422 -0.00248930 0.00257525
+v 0.00613422 -0.00225877 0.00258918
+v 0.00636910 -0.00171624 -0.00244543
+v 0.00626234 -0.00287973 -0.00243099
+v 0.00714267 -0.00287974 0.00030977
+v 0.00714336 -0.00173470 0.00052962
+v 0.00714356 -0.00171625 0.00077526
+v 0.00714376 -0.00171625 0.00121287
+v 0.00646194 -0.00171624 -0.00260902
+v 0.00642160 -0.00287973 -0.00259973
+v 0.00714000 -0.00287973 -0.00197583
+v 0.00714059 -0.00196534 -0.00220340
+v 0.00714069 -0.00173469 -0.00220340
+v 0.00714336 -0.00171625 0.00052962
+v 0.00664927 -0.00171624 -0.00267043
+v 0.00646065 -0.00196534 -0.00260954
+v 0.00666539 -0.00196534 -0.00267611
+v 0.00666539 -0.00287973 -0.00267662
+v 0.00713970 -0.00287973 -0.00220340
+v 0.00712537 -0.00242653 -0.00243099
+v 0.00714069 -0.00171624 -0.00220340
+v 0.00666539 -0.00171624 -0.00267559
+v 0.00689928 -0.00171624 -0.00266062
+v 0.00689928 -0.00219599 -0.00266114
+v 0.00689928 -0.00265729 -0.00266114
+v 0.00689928 -0.00287973 -0.00266011
+v 0.00712429 -0.00287973 -0.00242324
+v 0.00712468 -0.00265729 -0.00243099
+v 0.00712537 -0.00171624 -0.00243099
+v 0.00706299 -0.00265729 -0.00259457
+v 0.00706349 -0.00242653 -0.00259457
+v 0.00706319 -0.00171624 -0.00259406
+v 0.00706339 -0.00219599 -0.00259457
+v 0.00706210 -0.00287973 -0.00259406
+v 0.00712369 -0.00287973 -0.00243099
+v 0.00706813 -0.00171624 -0.00258115
+f 1 2 3
+f 1 3 11
+f 1 11 26
+f 1 26 42
+f 1 42 43
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+f 1 12 4
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+f 1 45 51
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+f 1 52 46
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+f 1 15 5
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+f 7 19 20
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+f 15 31 32
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+f 19 36 20
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+f 20 36 37
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+f 20 40 21
+f 21 40 22
+f 22 40 24
+f 23 35 41
+f 24 40 42
+f 24 42 25
+f 25 42 26
+f 27 43 38
+f 28 44 45
+f 28 45 29
+f 30 32 46
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+f 33 48 49
+f 33 49 34
+f 34 41 35
+f 38 43 39
+f 39 43 40
+f 40 43 42
+f 44 50 45
+f 45 50 51
+f 46 52 53
+f 46 53 54
+f 46 54 47
+f 47 55 48
+f 47 54 62
+f 47 62 55
+f 50 56 57
+f 50 57 51
+f 51 57 56
+f 51 56 58
+f 51 58 59
+f 52 60 53
+f 53 60 61
+f 53 61 54
+f 54 61 70
+f 54 70 62
+f 56 63 58
+f 58 63 64
+f 58 64 65
+f 58 65 59
+f 59 65 66
+f 59 66 67
+f 60 68 69
+f 60 69 61
+f 61 69 71
+f 61 71 72
+f 61 72 70
+f 64 73 74
+f 64 74 65
+f 65 74 72
+f 65 72 66
+f 66 72 71
+f 66 71 75
+f 66 75 67
+f 68 76 69
+f 69 76 71
+f 70 72 74
+f 70 74 77
+f 71 76 75
+f 73 77 74
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_60.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be900dd405fa33469ab26bea71b153707236195a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_60.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00336712 -0.00001550 0.00089954
+v -0.00336712 -0.00001550 0.00189954
+v -0.00336712 0.00213493 0.00089954
+v -0.00336712 0.00213493 0.00189954
+v 0.00001282 -0.00001550 0.00089954
+v 0.00001282 -0.00001550 0.00189954
+v 0.00001282 0.00213493 0.00089954
+v 0.00001282 0.00213493 0.00189954
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_61.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13e06ee7a9c5eaaa91b79dd1322404de15f009b1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_61.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00198832 -0.00001550 0.00093480
+v 0.00198832 -0.00001550 0.00193480
+v 0.00198832 0.00195736 0.00093480
+v 0.00198832 0.00195736 0.00193480
+v 0.00339732 -0.00001550 0.00093480
+v 0.00339732 -0.00001550 0.00193480
+v 0.00339732 0.00195736 0.00093480
+v 0.00339732 0.00195736 0.00193480
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_62.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1aa8849165d000672a540a0b8a33b5b4e8c1a71
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_62.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00079925 -0.00359765 0.00172333
+v 0.00079925 -0.00359765 0.00272333
+v 0.00079925 -0.00259764 0.00172333
+v 0.00079925 -0.00259764 0.00272333
+v 0.00292032 -0.00359765 0.00172333
+v 0.00292032 -0.00359765 0.00272333
+v 0.00292032 -0.00259764 0.00172333
+v 0.00292032 -0.00259764 0.00272333
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_7.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73267f5f823a2852c676199350cc6d75d94c26c2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_7.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
+v -0.00666630 -0.00399044 0.00075706
+v -0.00690024 -0.00396559 0.00075706
+v -0.00666630 -0.00399044 0.00052945
+v -0.00610224 -0.00398883 0.00075706
+v -0.00610224 -0.00398872 0.00098513
+v -0.00610224 -0.00398850 0.00121275
+v -0.00610224 -0.00398840 0.00130669
+v -0.00610224 -0.00398819 0.00144035
+v -0.00666630 -0.00398863 0.00144035
+v -0.00690024 -0.00396464 0.00144035
+v -0.00690024 -0.00396527 0.00098513
+v -0.00690024 -0.00396559 0.00052945
+v -0.00702573 -0.00393322 0.00144035
+v -0.00610224 -0.00398862 0.00030185
+v -0.00666630 -0.00398731 -0.00220325
+v -0.00619863 -0.00398710 -0.00220325
+v -0.00610224 -0.00398699 -0.00220325
+v -0.00610224 -0.00395710 0.00162543
+v -0.00666630 -0.00395721 0.00162964
+v -0.00690024 -0.00394527 0.00160206
+v -0.00702297 -0.00393085 0.00156701
+v -0.00702522 -0.00393299 0.00052945
+v -0.00690024 -0.00396527 0.00030185
+v -0.00702532 -0.00393310 0.00075706
+v -0.00708812 -0.00381068 0.00144035
+v -0.00708812 -0.00381067 0.00121275
+v -0.00708781 -0.00381067 0.00075706
+v -0.00690024 -0.00395838 -0.00197564
+v -0.00690024 -0.00395751 -0.00220325
+v -0.00690300 -0.00394471 -0.00240983
+v -0.00666630 -0.00397203 -0.00243132
+v -0.00610224 -0.00397741 -0.00233739
+v -0.00610224 -0.00385006 0.00173900
+v -0.00666630 -0.00385630 0.00174368
+v -0.00690024 -0.00383521 0.00171610
+v -0.00701767 -0.00369654 0.00178246
+v -0.00704574 -0.00378831 0.00165301
+v -0.00708761 -0.00381067 0.00052945
+v -0.00708720 -0.00381067 0.00030185
+v -0.00702491 -0.00393267 0.00030185
+v -0.00702451 -0.00393235 0.00007377
+v -0.00702410 -0.00393202 -0.00015384
+v -0.00702358 -0.00393160 -0.00038098
+v -0.00714316 -0.00358004 0.00144035
+v -0.00714346 -0.00358003 0.00121275
+v -0.00714326 -0.00358003 0.00075706
+v -0.00714316 -0.00358003 0.00052945
+v -0.00714275 -0.00358003 0.00007377
+v -0.00714091 -0.00358002 -0.00197564
+v -0.00702297 -0.00393106 -0.00060906
+v -0.00702114 -0.00392945 -0.00129235
+v -0.00702042 -0.00392889 -0.00151995
+v -0.00701981 -0.00392825 -0.00174804
+v -0.00701899 -0.00392760 -0.00197564
+v -0.00701817 -0.00392685 -0.00220325
+v -0.00701756 -0.00392631 -0.00232009
+v -0.00698274 -0.00390943 -0.00247152
+v -0.00682682 -0.00393664 -0.00255892
+v -0.00610224 -0.00397053 -0.00243132
+v -0.00666630 -0.00394159 -0.00256499
+v -0.00610224 -0.00380262 0.00176096
+v -0.00610224 -0.00373473 0.00179181
+v -0.00666630 -0.00374098 0.00179275
+v -0.00690024 -0.00371989 0.00178760
+v -0.00610224 -0.00289152 0.00209700
+v -0.00701858 -0.00358004 0.00178340
+v -0.00708138 -0.00358004 0.00166843
+v -0.00708659 -0.00381067 0.00007377
+v -0.00708598 -0.00381067 -0.00015384
+v -0.00708526 -0.00381067 -0.00038098
+v -0.00708056 -0.00381066 -0.00174804
+v -0.00707975 -0.00381066 -0.00197564
+v -0.00714490 -0.00334938 0.00144035
+v -0.00714490 -0.00334937 0.00098513
+v -0.00714479 -0.00334937 0.00052945
+v -0.00714388 -0.00334936 -0.00197564
+v -0.00714009 -0.00358002 -0.00220325
+v -0.00707852 -0.00381066 -0.00220325
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diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_8.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..607d5f16c046bd52f0a2a420ac3d7cc2e7b3bd0c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_8.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_9.obj b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6513622ef4446747a0f02b20f1c2594136f4ac3e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mjcf/mesh/lego_brick_collision_9.obj
@@ -0,0 +1,244 @@
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