diff --git a/.gitattributes b/.gitattributes
index 94ce2615bb30e0a98cbd809785712697bfa54f79..14ff7f1bdb3f68b88d079272fb5697c55be89273 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2954,3 +2954,4 @@ dataset/desktop_supplies/decorations/e05b6d8397895fdcaab2ac5be75c0dda/mesh/mouse
dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/e97ca22cbeb35b928c2a72b58fa9ecef.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/chess_pawn.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/chess_pawn_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/e4e17002a6d8591aa47e76b7eb71a51f.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/e4e17002a6d8591aa47e76b7eb71a51f.urdf b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/e4e17002a6d8591aa47e76b7eb71a51f.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7f1b9c15a21de0df9586c7bdef4c7c28af3c3052
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/e4e17002a6d8591aa47e76b7eb71a51f.urdf
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+ folded yellow cloth with soft texture and irregular edges
+ 0.1
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+ 0.125
+ 0.5
+ 1.0
+ 20251004230120
+ mesh/yellow_cloth_gs.ply
+
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+ NO: overlapping and redundant geometry visible in the hollow sections.
+ YES
+ 4.2618361711502075
+ NO
+ YES
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/e4e17002a6d8591aa47e76b7eb71a51f.usd b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/e4e17002a6d8591aa47e76b7eb71a51f.usd
new file mode 100644
index 0000000000000000000000000000000000000000..807f3e471f22f429bf4f8fc6215a08fc665095d7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/e4e17002a6d8591aa47e76b7eb71a51f.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e5e8c0c42e604e0cc30ffe046d9b70c48146fb0ab41046e6cb638c9dcd2ca90
+size 808147
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mesh/material.mtl b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mesh/material_0.png b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mesh/yellow_cloth.glb b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mesh/yellow_cloth.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6666ede2091af50e3122e552ca2ef57382447623
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mesh/yellow_cloth.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc0072c52fc72408016ec43dacb966d73bbf9cfa8f73a6156e9de9dc3c75f01b
+size 2433104
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mesh/yellow_cloth.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mesh/yellow_cloth.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc1a2b5d46f6796825fdabd7317c97086f378645
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mesh/yellow_cloth.obj
@@ -0,0 +1,56117 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mesh/yellow_cloth_collision.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mesh/yellow_cloth_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6115b9749ab8c39e7ce697fbf4453ed7263f197
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mesh/yellow_cloth_collision.obj
@@ -0,0 +1,21957 @@
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mesh/yellow_cloth_gs.ply b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mesh/yellow_cloth_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d1d3588621dfc85a02d51cc84c7677a8c165bd2d
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/e4e17002a6d8591aa47e76b7eb71a51f.xml b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/e4e17002a6d8591aa47e76b7eb71a51f.xml
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dadbd5b627261fdc8f99df2352330703de2f35e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision.obj
@@ -0,0 +1,21957 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_0.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c3624509b46e53335250500a2eb9b47556cc103
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_0.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.00695024 0.03551611 0.05613068
+v -0.00972449 -0.00073648 0.05545970
+v -0.00972449 -0.00119337 0.05543806
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+v -0.01553975 -0.04355429 0.05452900
+v -0.00695024 0.05791327 0.05693145
+v -0.00972449 -0.00119333 0.04326378
+v -0.00695024 0.04338248 0.04345561
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+v -0.01553975 -0.04355424 0.04092336
+v -0.00843645 0.05791327 0.05687890
+v -0.00695024 0.05791332 0.04294557
+v -0.00695024 0.04502129 0.04339379
+v -0.05545393 -0.04355428 0.05184868
+v -0.05628469 0.05791329 0.05298363
+v -0.06027839 0.05791329 0.05259719
+v -0.01804725 -0.04355423 0.03940235
+v -0.02462467 0.05791334 0.03781061
+v -0.02040994 -0.04355423 0.03837289
+v -0.04498189 -0.04355420 0.02870890
+v -0.05647523 -0.04355428 0.05151171
+v -0.06341086 0.05791329 0.05185832
+v -0.06523241 0.05791337 0.03057035
+v -0.06829629 0.03550630 0.02535183
+v -0.08323457 -0.04355420 0.02870890
+v -0.06784662 -0.00119326 0.02535170
+v -0.06764845 0.00232275 0.02535171
+v -0.06738170 0.02207794 0.02535178
+v -0.06732835 0.02617994 0.02535180
+v -0.06770942 0.03025216 0.02535181
+v -0.05745079 -0.04355428 0.05117164
+v -0.06527052 0.05791329 0.05120911
+v -0.08478175 0.05791337 0.03057035
+v -0.08481224 0.03550630 0.02535183
+v -0.08444640 -0.00119326 0.02535170
+v -0.08296019 -0.04355420 0.02930246
+v -0.06027839 -0.04355427 0.05016382
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+v -0.08319646 0.05791336 0.03399880
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+v -0.08315835 0.05791335 0.03407609
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+v -0.07134492 -0.04355425 0.04453422
+v -0.07873022 -0.04355422 0.03643143
+v -0.08123772 0.05791334 0.03736852
+v -0.07318934 0.05791331 0.04663680
+v -0.07236620 -0.04355425 0.04362841
+v -0.07732023 -0.04355423 0.03840689
+v -0.07898935 0.05791333 0.04063623
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+v -0.07538435 0.05791332 0.04465825
+v -0.07532338 -0.04355424 0.04078425
+v -0.07738120 0.05791332 0.04260550
+v -0.07724401 0.05791332 0.04274771
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_1.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cbebbf410bd63e6b624a53cbc69348426b669df
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_1.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00566691 -0.05430075 0.05471598
+v 0.00318219 -0.05430075 0.05516615
+v 0.00566691 -0.05430068 0.03495140
+v 0.00566691 -0.01766202 0.05502167
+v 0.00428973 -0.02165387 0.05524367
+v 0.00155198 -0.05184222 0.05541874
+v 0.00142754 -0.05430075 0.05541059
+v 0.00445773 -0.01367017 0.05527833
+v -0.00102400 -0.05430068 0.03572137
+v -0.01551750 -0.00120081 0.04267778
+v 0.00566691 -0.00120080 0.04110321
+v 0.00566691 -0.01367017 0.05505427
+v -0.00012801 -0.05430075 0.05552466
+v 0.00209538 -0.02963237 0.05549827
+v 0.00566691 -0.00967833 0.05507668
+v 0.00452203 -0.00967833 0.05528853
+v 0.00229449 -0.02165387 0.05552274
+v 0.00220116 -0.02564572 0.05551051
+v -0.00436530 -0.05430068 0.03629987
+v -0.01551750 -0.00120085 0.05478340
+v -0.01551750 -0.03336428 0.04110920
+v 0.00566691 -0.00120085 0.05510117
+v -0.00110904 -0.05430075 0.05554299
+v -0.00045363 -0.02165387 0.05569384
+v -0.00045363 -0.02564572 0.05567550
+v 0.00566691 -0.00815020 0.05508281
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_10.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20d8b518daa522369c0e83847c7da282b82705fd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_10.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.04066498 -0.05430058 0.00749322
+v 0.02697567 -0.05430058 0.00749322
+v 0.04064730 -0.05430057 0.00604650
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+v 0.02425196 -0.00120068 0.00749342
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+v 0.03999879 -0.05357808 0.00209563
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+v 0.03884917 -0.05357806 -0.00185260
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+v 0.03823899 -0.00120066 0.00258246
+v 0.03779683 -0.05430053 -0.00459085
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+v 0.03779388 -0.05357805 -0.00458559
+v 0.03666195 -0.00120064 -0.00202206
+v 0.03755512 -0.03761065 -0.00410154
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+v 0.03777325 -0.04958619 -0.00454611
+v 0.03772903 -0.04559435 -0.00446588
+v 0.03764944 -0.04160250 -0.00431329
+v 0.03750500 -0.00120065 -0.00004795
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+v 0.03700978 -0.04559435 -0.00594285
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+v 0.03688009 -0.04160250 -0.00594283
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_11.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9731b70f0074015f135a5e3b7b526b96d13e2336
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_11.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.03235552 -0.05516523 -0.00594288
+v -0.03504500 -0.05546967 -0.01214820
+v -0.03634152 -0.05542620 -0.00594288
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+v 0.02862382 -0.10546858 -0.01516752
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_12.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e43f30a1f4af162a4eb5d3a96006846d4d2c4b4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_12.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.03889897 0.03551590 0.01780008
+v 0.02513185 0.03551590 0.01780008
+v 0.03888365 0.03551590 0.01789699
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_13.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d62b850deb884fee38ba25d52dedc1d47781b8e3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_13.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.11820671 0.02623773 -0.03345044
+v 0.11794812 0.02623775 -0.03740009
+v 0.11771304 0.03421115 -0.03740006
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_14.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3508616cb7ebf2238301b4231d2647d872d8ac7e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_14.obj
@@ -0,0 +1,760 @@
+# https://github.com/mikedh/trimesh
+v 0.00751873 0.11406118 0.06198287
+v 0.01150235 0.11406118 0.06190760
+v 0.00751873 0.11805023 0.06189148
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_15.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d21aaf7f1c6d2d5a28f9a623d6e431c698ff023
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_15.obj
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_16.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ce18f0d5edadbdf960ad1c0a4b6a005efa3a483
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_16.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v 0.03706155 -0.05430064 0.02512414
+v 0.03672047 -0.05430065 0.02597522
+v 0.02310759 -0.05430064 0.02512414
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_17.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e9580f6aa59d1c1bef6a923fe69754685ac702e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_17.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.06071630 0.03551599 -0.00594255
+v -0.08822102 0.03551599 -0.00594255
+v -0.06086527 0.03551599 -0.00562968
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+f 1 25 24
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+f 31 34 33
+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_18.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be48be3dd0dc5736ed6dcedc224961d0de0073f8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_18.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.04163846 0.05156806 0.00604865
+v 0.04159890 0.05156806 0.00511379
+v 0.04153165 0.05156805 0.00881123
+v 0.03915800 -0.00120070 0.01394404
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+v 0.02276400 0.03551431 0.00397753
+v 0.02192926 0.02589652 0.00397750
+v 0.02171168 0.02211035 0.00397748
+v 0.02349785 0.04620125 0.02186256
+v 0.02372334 0.05019403 0.02186257
+v 0.02380642 0.05156800 0.02186258
+v 0.02256026 -0.00120066 0.00397740
+v 0.04126857 0.05156804 0.01069146
+v 0.02556886 -0.00120072 0.01779905
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+v 0.02157124 0.01826737 0.00397747
+v 0.02397060 0.03551424 0.02186252
+v 0.02143277 0.01427975 0.00397745
+v 0.02526226 0.00183648 0.01779906
+v 0.02164838 0.01020433 0.00397744
+v 0.02164245 0.01028698 0.00397744
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_19.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4c2af212e9b400827d1b1b12426ddfa6b793231
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_19.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.02039790 -0.12058161 0.05344092
+v -0.02438569 -0.12057738 0.05344092
+v -0.01551958 -0.11979693 0.04630368
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+v -0.01551958 -0.12044165 0.05344092
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+v -0.02837348 -0.12035259 0.05344092
+v -0.02039790 -0.11906739 0.04158940
+v -0.01640847 -0.12026776 0.05712167
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+v -0.03218187 -0.11988604 0.05599551
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+v -0.01551958 -0.11987756 0.05808696
+v -0.03218187 -0.12007689 0.05344092
+v -0.03218187 -0.11965699 0.05088146
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+v -0.01574792 -0.07725603 0.05565441
+v -0.03218187 -0.07725602 0.05280244
+v -0.03218187 -0.10419705 0.00980338
+v -0.03170072 -0.10479932 0.00980338
+v -0.03084119 -0.10546946 0.00980337
+v -0.02686807 -0.10818818 0.00980336
+v -0.02493207 -0.10949028 0.00980336
+v -0.03218187 -0.07725587 0.00980348
+f 1 2 3
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+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 9
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+f 2 10 11
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+f 2 12 7
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+f 23 31 25
+f 23 25 24
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+f 28 33 34
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+f 29 39 40
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+f 29 41 42
+f 29 42 30
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+f 31 36 35
+f 31 35 34
+f 32 34 33
+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_2.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f51514d914a384c205fc71ce5d621aab9ef1c6c5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_2.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.00839316 0.05189584 -0.00594249
+v -0.01415790 0.04807960 -0.00594250
+v -0.00839316 0.05608656 -0.01739568
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+v -0.03231986 0.04188121 -0.00924531
+v -0.05554500 0.04618347 -0.01739572
+v -0.00839316 0.11890706 -0.01739545
+v -0.00839316 0.12065181 -0.00635144
+v -0.03641379 0.12089081 -0.00594224
+v -0.03027981 0.04004081 -0.00594253
+v -0.03207985 0.03958668 -0.00594253
+v -0.03231986 0.03956278 -0.00605352
+v -0.03465068 0.04011252 -0.00790783
+v -0.03595225 0.03970619 -0.00594253
+v -0.05554500 0.04543455 -0.01453802
+v -0.05554500 0.11799881 -0.01739546
+v -0.01242248 0.11904249 -0.01739545
+v -0.00839316 0.12013399 -0.01584272
+v -0.00839316 0.12065182 -0.00904994
+v -0.04019850 0.12093862 -0.00594224
+v -0.03774306 0.12091473 -0.00594224
+v -0.03231986 0.03955481 -0.00594253
+v -0.03343681 0.03958668 -0.00594253
+v -0.03638149 0.03987350 -0.00594253
+v -0.05554500 0.04543455 -0.01366020
+v -0.05554500 0.11998261 -0.01526087
+v -0.05406805 0.12003838 -0.01551984
+v -0.05140952 0.12010211 -0.01576088
+v -0.04895870 0.11873974 -0.01739545
+v -0.01641026 0.11915404 -0.01739545
+v -0.01242248 0.12017382 -0.01592120
+v -0.02439044 0.12026943 -0.01610618
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+v -0.05156183 0.12032515 -0.00594224
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+v -0.04033696 0.12020569 -0.01598398
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+v -0.04831714 0.12014992 -0.01584833
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+v -0.05554500 0.12015787 -0.00965534
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+v -0.01760567 0.11917793 -0.01739545
+v -0.02039805 0.11923370 -0.01739545
+v -0.02439044 0.11928948 -0.01739545
+v -0.02837823 0.11930541 -0.01739545
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+v -0.05473268 0.12007818 -0.00594224
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+v -0.03368604 0.11926557 -0.01739545
+v -0.03634918 0.11922574 -0.01739545
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+v -0.04144468 0.11912217 -0.01739545
+v -0.05554500 0.11991884 -0.00594224
+f 1 2 3
+f 1 3 11
+f 1 11 22
+f 1 22 23
+f 1 23 12
+f 1 12 4
+f 1 4 13
+f 1 13 25
+f 1 25 24
+f 1 24 39
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+f 1 55 62
+f 1 62 47
+f 1 47 28
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+f 1 18 27
+f 1 27 26
+f 1 26 15
+f 1 15 14
+f 1 14 5
+f 1 5 2
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+f 36 38 51
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+f 39 54 55
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+f 40 56 41
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+f 42 59 43
+f 43 59 60
+f 43 60 61
+f 43 61 44
+f 44 61 49
+f 54 62 55
+f 57 58 59
+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_20.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c760698781d267d84c2c9cde543dfe960681b92
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_20.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.04069796 -0.05430059 0.00999696
+v 0.04034283 -0.05430060 0.01323577
+v 0.04066456 -0.05430058 0.00749322
+v 0.03928271 -0.00120069 0.00999716
+v 0.03926864 -0.00120069 0.01048376
+v 0.03915964 -0.00120070 0.01394689
+v 0.04026196 -0.05430060 0.01394669
+v 0.03910514 -0.00120070 0.01443349
+v 0.02697789 -0.05430058 0.00749322
+v 0.03909283 -0.00120068 0.00749342
+v 0.03962378 -0.05430061 0.01718378
+v 0.03870957 -0.00120072 0.01789490
+v 0.02311011 -0.05430064 0.02512120
+v 0.02425111 -0.00120068 0.00749342
+v 0.03947786 -0.05430062 0.01789470
+v 0.03861112 -0.00120072 0.01836769
+v 0.03706049 -0.05430064 0.02512120
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+v 0.02273916 -0.00120074 0.02512140
+v 0.03851091 -0.05430063 0.02113351
+v 0.03791141 -0.00120073 0.02171694
+v 0.03740508 -0.00120074 0.02369094
+v 0.03750880 -0.05430064 0.02399789
+v 0.03689699 -0.00120074 0.02512140
+v 0.03829291 -0.05430063 0.02184443
+f 1 2 7
+f 1 7 11
+f 1 11 15
+f 1 15 20
+f 1 20 25
+f 1 25 23
+f 1 23 17
+f 1 17 13
+f 1 13 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
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+f 3 14 10
+f 3 10 4
+f 4 10 14
+f 4 14 19
+f 4 19 24
+f 4 24 22
+f 4 22 21
+f 4 21 16
+f 4 16 12
+f 4 12 8
+f 4 8 6
+f 4 6 5
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+f 14 18 19
+f 15 16 21
+f 15 21 22
+f 15 22 20
+f 17 23 24
+f 20 22 25
+f 22 24 25
+f 23 25 24
+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_21.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95abf4559248c735fa795d7dc5ef96e462b69a46
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_21.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.04160180 0.05156806 0.00511162
+v 0.04153632 0.05156807 0.00364005
+v 0.02313931 0.05156806 0.00511162
+v 0.03964955 0.03551430 0.00511156
+v 0.03853631 -0.00120066 0.00397637
+v 0.04152404 0.05156807 0.00345177
+v 0.00364544 0.05156808 -0.00095321
+v 0.02370411 0.03551430 0.00511156
+v 0.02255404 -0.00120066 0.00397637
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+v 0.04119662 0.05156807 0.00158634
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+v 0.00929346 0.01133555 -0.00363681
+v 0.02163726 0.01028698 0.00397641
+v 0.00966591 0.00867542 -0.00392248
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+v 0.01064408 0.00230661 -0.00468318
+v 0.01157723 -0.00120063 -0.00506947
+v 0.03812704 -0.00120066 0.00209579
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+v 0.03800835 0.05156810 -0.00594249
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+f 22 34 27
+f 22 27 26
+f 22 26 25
+f 22 25 24
+f 22 24 23
+f 30 31 36
+f 30 36 34
+f 30 34 35
+f 34 37 35
+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_22.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..034ddcd048944d6de3c5eb9ba86ad8efae84ef41
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_22.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v -0.05436425 -0.05483470 -0.01739609
+v -0.06233722 -0.03760666 -0.00784646
+v -0.06433317 -0.03760667 -0.00627915
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+v -0.08763737 -0.05483470 -0.01739609
+v -0.05554664 0.11797736 -0.01739546
+v -0.05554664 0.11996587 -0.01525975
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+v -0.05554664 0.12012011 -0.00798713
+v -0.05554664 0.11991440 -0.00594224
+v -0.05554664 0.04942505 -0.00594250
+v -0.06512866 -0.03760667 -0.00594282
+v -0.06717885 -0.04160084 -0.00594283
+v -0.07989582 -0.05483474 -0.00594288
+v -0.06570720 -0.04405219 -0.00743839
+v -0.08814360 -0.05483470 -0.01642746
+v -0.08768077 -0.05384044 -0.01739609
+v -0.05565150 0.11797736 -0.01739546
+v -0.05629874 0.11796021 -0.01734613
+v -0.06028703 0.11775451 -0.01706586
+v -0.06028703 0.11974301 -0.01466668
+v -0.07048375 0.12010299 -0.01182356
+v -0.06826361 0.12022299 -0.01206684
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+v -0.06427532 0.12029155 -0.01046814
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+v -0.08619465 0.04489951 -0.01739573
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+v -0.08057922 0.11917728 -0.00594224
+v -0.06533476 0.11494316 -0.01739547
+v -0.06995222 0.11569742 -0.01555013
+v -0.07230614 0.11424032 -0.01502433
+v -0.07641014 0.11401746 -0.01285275
+v -0.07785287 0.11532027 -0.01145922
+v -0.08231845 0.11617738 -0.00787616
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+v -0.09013232 -0.04160082 -0.01144297
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+v -0.09059515 -0.05483472 -0.01001025
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_23.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a2a2c4d2dfda0feb37440b93b2b1f148aa165c1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_23.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.07326975 -0.04356368 0.02506772
+v -0.07326975 -0.06166744 0.02506765
+v -0.07326975 -0.04356375 0.04283057
+v -0.04539291 -0.04356368 0.02506772
+v -0.07326975 -0.07725139 0.02813138
+v -0.06549892 -0.06463581 0.02506764
+v -0.06617785 -0.07725138 0.02507304
+v -0.07326975 -0.07725145 0.04352367
+v -0.07188975 -0.07725145 0.04479595
+v -0.07174953 -0.07725146 0.04492372
+v -0.07237680 -0.04356375 0.04362982
+v -0.03558158 -0.04356371 0.03339185
+v -0.03558158 -0.05315152 0.02506768
+v -0.03558158 -0.06463581 0.02506764
+v -0.03558158 -0.07725138 0.02507304
+v -0.06915925 -0.07725146 0.04690009
+v -0.07135472 -0.04356375 0.04453781
+v -0.03558158 -0.04356378 0.05188870
+v -0.03558158 -0.07725148 0.05251656
+v -0.06990460 -0.04356376 0.04554910
+v -0.06730326 -0.07725147 0.04789235
+v -0.06652470 -0.04356376 0.04763964
+v -0.06851722 -0.04356376 0.04651146
+v -0.03558158 -0.04482369 0.05192948
+v -0.04433761 -0.04356378 0.05223124
+v -0.04433761 -0.04560536 0.05237259
+v -0.04433761 -0.04959617 0.05261725
+v -0.04034888 -0.04959617 0.05237802
+v -0.03558158 -0.04881780 0.05203276
+v -0.04034888 -0.05358368 0.05247043
+v -0.04433761 -0.05358368 0.05274500
+v -0.04433761 -0.05757449 0.05276130
+v -0.04832634 -0.07725148 0.05284007
+v -0.06716304 -0.07725147 0.04796575
+v -0.06426651 -0.07725147 0.04927880
+v -0.06073531 -0.07725148 0.05080389
+v -0.05874280 -0.07725148 0.05166022
+v -0.06426651 -0.04356377 0.04860744
+v -0.04832634 -0.04356378 0.05230192
+v -0.04832634 -0.04560536 0.05243783
+v -0.04832634 -0.04959617 0.05268521
+v -0.04832634 -0.05358368 0.05280752
+v -0.04832634 -0.05757449 0.05281567
+v -0.05231138 -0.07725148 0.05283191
+v -0.05759156 -0.04560536 0.05121722
+v -0.06027778 -0.04356377 0.05016516
+v -0.05858413 -0.07725148 0.05170644
+v -0.05581674 -0.05358368 0.05205721
+v -0.05575402 -0.04959617 0.05199742
+v -0.05231138 -0.04356378 0.05227745
+v -0.05231138 -0.04560536 0.05240249
+v -0.05231138 -0.04959617 0.05260366
+v -0.05231138 -0.05358368 0.05271237
+v -0.05231138 -0.05757449 0.05275314
+v -0.05231138 -0.06155870 0.05276944
+v -0.05601231 -0.07725148 0.05237248
+v -0.05647354 -0.04356378 0.05151626
+v -0.05744766 -0.04356378 0.05117373
+v -0.05559904 -0.04560536 0.05191044
+v -0.05628904 -0.07725148 0.05233442
+v -0.05545514 -0.04356378 0.05185336
+f 1 2 5
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+f 1 3 11
+f 1 11 17
+f 1 17 20
+f 1 20 23
+f 1 23 22
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+f 1 38 46
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+f 1 58 57
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+f 1 18 12
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+f 22 37 38
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+f 42 54 55
+f 42 55 44
+f 42 44 43
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+f 45 57 58
+f 45 58 46
+f 45 49 59
+f 45 59 57
+f 47 60 48
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+f 48 53 49
+f 49 53 52
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+f 50 61 51
+f 51 61 52
+f 52 61 59
+f 53 60 54
+f 54 60 56
+f 54 56 55
+f 57 59 61
+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_24.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02cc707c41c9fe19a263e9e87c5038469b51bd9b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_24.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.03186815 0.04360799 0.00827049
+v -0.03186815 0.04377824 0.00866023
+v -0.03366823 0.03986251 0.00058311
+v -0.03366823 0.03948216 -0.00078251
+v -0.03186815 0.05506188 0.00827053
+v -0.03635506 0.03986613 0.00056163
+v -0.03186815 0.05138876 0.02168123
+v -0.03635506 0.05092148 0.02127308
+v -0.03635506 0.03951838 -0.00078251
+v -0.03366823 0.05469243 -0.00078246
+v -0.03186815 0.07648804 0.02646866
+v -0.03851050 0.04011607 0.00027623
+v -0.03186815 0.05241026 0.02341204
+v -0.03964967 0.05155539 0.02066545
+v -0.03236633 0.05242837 0.02340897
+v -0.03635506 0.05269280 0.02324939
+v -0.04034379 0.05520672 0.02467333
+v -0.03861014 0.04005449 -0.00078251
+v -0.04758397 0.07648814 -0.00078238
+v -0.03186815 0.07648803 0.03056860
+v -0.04230993 0.05221467 0.01981539
+v -0.05918152 0.04887493 -0.00078248
+v -0.03186815 0.05269643 0.02374040
+v -0.04072573 0.05301520 0.02192673
+v -0.03243939 0.05891961 0.03056854
+v -0.04012792 0.06174867 0.03056855
+v -0.04082869 0.06204571 0.03056855
+v -0.04275497 0.05578629 0.02416698
+v -0.05918152 0.07648814 -0.00078238
+v -0.05740137 0.07648803 0.03056860
+v -0.03186815 0.05889425 0.03056854
+v -0.06373486 0.06245870 0.01498819
+v -0.06579731 0.06389678 0.01498819
+v -0.04785962 0.06653380 0.03056856
+v -0.05421968 0.06423725 0.02376193
+v -0.06579731 0.07648446 0.01498824
+v -0.05918152 0.07648804 0.02841736
+v -0.05799918 0.07648803 0.02985663
+v -0.06579731 0.07648444 0.02170280
+v -0.06579731 0.07376405 0.02086194
+v -0.06579731 0.07256506 0.02040161
+v -0.05635188 0.07406106 0.03056859
+v -0.05227347 0.07024309 0.03056858
+v -0.06579731 0.07180799 0.02003948
+v -0.05894904 0.07648803 0.02871503
+f 1 2 3
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_25.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20ba7e54cfc613e19e4825e14355af9d31dcc4c9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_25.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.04062592 -0.01255680 -0.01253147
+v 0.04062592 -0.01255679 -0.01739594
+v 0.04062592 -0.00967187 -0.01234871
+v 0.03525260 -0.01255683 -0.00594273
+v 0.01059382 -0.01255679 -0.01739594
+v 0.04062592 0.05165336 -0.01739570
+v 0.04062592 -0.00568074 -0.01213120
+v 0.01260246 -0.01255683 -0.00594273
+v 0.03802402 0.05165332 -0.00594249
+v 0.00878012 -0.01255679 -0.01738922
+v 0.00883944 -0.00974100 -0.01739593
+v -0.00266573 0.05165336 -0.01739570
+v 0.04062592 0.05165334 -0.01013542
+v 0.04062592 -0.00168961 -0.01197984
+v 0.01194563 -0.01255683 -0.00645395
+v 0.00832669 0.00653148 -0.00594266
+v -0.00027994 0.05165332 -0.00594249
+v 0.00811481 -0.01255680 -0.01370190
+v 0.00139816 0.01939115 -0.01610879
+v 0.00211432 0.01825352 -0.01739582
+v 0.00001246 0.03023950 -0.01739578
+v 0.00139816 0.01939115 -0.01542380
+v -0.00260216 0.05165336 -0.01527121
+v 0.01139050 -0.01255682 -0.00696854
+v 0.00811057 0.00751198 -0.00594265
+v -0.00029265 0.05165332 -0.00597276
+v 0.00489421 0.01028380 -0.01022302
+v 0.00554680 0.01260933 -0.00780366
+v 0.00747916 0.01062947 -0.00594264
+v 0.00885216 -0.01255681 -0.01038903
+v 0.00547476 0.00407397 -0.01159528
+v 0.00526288 0.00629266 -0.01109190
+v 0.00013535 0.03023949 -0.01370174
+v -0.00034774 0.03423063 -0.01370172
+v 0.00994970 -0.01255682 -0.00841364
+v 0.00913184 -0.01255681 -0.00983969
+f 1 2 6
+f 1 6 13
+f 1 13 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
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+f 1 8 15
+f 1 15 24
+f 1 24 35
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+f 1 30 18
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+f 1 10 5
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+f 18 30 22
+f 18 22 19
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+f 23 34 26
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+f 26 34 33
+f 26 33 27
+f 27 32 30
+f 27 30 28
+f 27 33 32
+f 28 30 36
+f 28 36 35
+f 28 35 29
+f 30 32 31
+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_26.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ecd7e8240d34334c3dd79fc5faab8d964ceed58
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_26.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00448432 0.08304198 -0.03345029
+v 0.00448432 0.08301832 -0.02777110
+v 0.00577654 0.08299939 -0.02777110
+v 0.00753152 0.08298049 -0.03345030
+v 0.00448432 0.08283859 -0.03620200
+v 0.00448432 0.05480682 -0.02777120
+v 0.00753152 0.08294263 -0.02777110
+v 0.00753152 0.08297102 -0.03112613
+v 0.01151296 0.08285277 -0.03345030
+v 0.01151296 0.08263991 -0.03620200
+v 0.01030806 0.08267776 -0.03620200
+v 0.00753152 0.08276291 -0.03620200
+v 0.00448432 0.05847283 -0.03620209
+v 0.01965920 0.03879477 -0.02777126
+v 0.00976672 0.08285748 -0.02777110
+v 0.00917299 0.08291425 -0.03112613
+v 0.01315444 0.08275816 -0.03112613
+v 0.01550314 0.08268721 -0.03345030
+v 0.01429823 0.08254531 -0.03620200
+v 0.03315769 0.04405962 -0.03620214
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_27.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4fa442472aa66710361768f2b5e754de939137c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_27.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_28.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0aefe80e4566936c0cac419dae535338a64c1025
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_28.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_29.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c53f5d49fea2c831f7db80457bed5971ce1ea96
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_29.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_3.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d500e9a8e62afe969291450e120fd85a9ba80e91
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_3.obj
@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_30.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dca89b0396fe855c900203a2c578ec3ba1c91ddf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_30.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_31.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14b3185778487ef3b85d5ff8329ddbe0e48818e3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_31.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.06512309 -0.03761256 -0.00594282
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+v -0.09092539 -0.00977498 -0.00175437
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_32.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ce768d46734b1883399b10face8b202aff3f7ac
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_32.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.07052905 -0.11172511 -0.02709027
+v 0.07052905 -0.11172511 -0.02777066
+v 0.07052905 -0.11057489 -0.02579551
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+v 0.03346062 -0.01167649 -0.02752555
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+v 0.03146254 -0.00569104 -0.02710004
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_33.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a554a8affc3051ab5b219a0b60115cb60a0c02f4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_33.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00453709 -0.11406611 -0.01739631
+v 0.00383821 -0.11398780 -0.01739631
+v -0.02025374 -0.11174933 -0.01914702
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+v -0.02025374 -0.11212782 -0.02555077
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+v 0.00453709 -0.04876559 -0.01772408
+v -0.02025374 -0.05784346 -0.01740626
+v -0.01666470 -0.05816977 -0.01739610
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_34.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45f5637063dc941ecf2bef3df11ab50848d59ab6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_34.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.11968171 0.06217381 -0.02777002
+v 0.11913670 0.06217380 -0.02555013
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_35.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72510544023a49c9abcfb49fbc21f8d1a7f8cfe7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_35.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_36.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a943f90e735a16211ffc7c0166455a0a5501c88e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_36.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_37.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31ba63ebdce3303abe36fbd870310b2a755c2c0e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_37.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_38.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..130d0d0da7e10f032789cae8a336342e881cb5ec
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_38.obj
@@ -0,0 +1,727 @@
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_39.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3091ee5cd6cd9f07094d1a1be7eb630db7dac3a3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_39.obj
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_4.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..893c2fcfa5af869759f54535f9fddbac3c8c3a01
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_4.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_40.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2622fa7fdaf83657c016bbb0e869b0c52e248df4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_40.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_41.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75174664e05878edd0406690ff66b5d7cd76bd9f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_41.obj
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_42.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dfcf2d6dcfb86220c2da63f4af91239f9105229
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_42.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.04062113 0.05165334 -0.01013542
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+v -0.00443939 0.12064783 -0.00905219
+v -0.00045203 0.12051268 -0.00901855
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_43.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a4f51810270567f440db2c3af508cf1800a71b9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_43.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00448432 0.08284166 -0.03620297
+v 0.00448432 0.08275375 -0.03740024
+v 0.00448432 0.05847008 -0.03620306
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_44.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..931e4e940ad1da7722510e73650d1eff9483f08e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_44.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v -0.05278988 0.04919565 -0.00185782
+v -0.05918725 0.04274902 -0.00594252
+v -0.05278988 0.04919895 -0.00197298
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+v -0.05918725 0.04887199 -0.00078248
+v -0.05918725 0.07648814 -0.00078238
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_45.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42a0f1408cc043b17194e161af0bd193fcdf57de
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_45.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.05970247 0.05473309 -0.02777100
+v -0.06056542 0.05473310 -0.02941853
+v -0.09111828 0.05473309 -0.02777100
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+v -0.11506246 -0.00634670 -0.03746564
+v -0.11546662 -0.00931199 -0.03746565
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_46.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d979903c2a7276d250f9d808d818ffb7d09dfdcc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_46.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.05278801 0.07648816 -0.00594240
+v -0.05278801 0.04931651 -0.00594250
+v -0.05278801 0.07648814 -0.00078238
+v -0.03366161 0.07648816 -0.00594240
+v -0.05278801 0.04919944 -0.00197298
+v -0.04041395 0.04202611 -0.00594253
+v -0.03865969 0.04001054 -0.00427774
+v -0.05278801 0.04946281 -0.00078248
+v -0.04757906 0.07648814 -0.00078238
+v -0.03366161 0.03960085 -0.00594253
+v -0.00695734 0.07648816 -0.00594189
+v -0.05278801 0.04919944 -0.00185782
+v -0.03870455 0.03998493 -0.00185280
+v -0.03638049 0.03987154 -0.00594253
+v -0.03612924 0.03965572 -0.00567786
+v -0.03635358 0.03924235 -0.00185281
+v -0.05174263 0.04864341 -0.00078248
+v -0.03366161 0.05469375 -0.00078246
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+v -0.03860585 0.04005442 -0.00078251
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+v -0.03635358 0.03952035 -0.00078251
+v -0.03366161 0.03948377 -0.00078251
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+v -0.01368725 0.04778014 -0.00477725
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+v -0.03236050 0.03911798 -0.00185331
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+v -0.02987940 0.03991177 -0.00146438
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+v -0.01316680 0.04749847 -0.00185328
+v -0.02982108 0.03986787 -0.00185330
+v -0.00805656 0.05096626 -0.00195378
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+f 45 51 46
+f 46 51 48
+f 46 48 47
+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_47.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0ae5d63f10bf2cc2523eb627b107cf49b5beb1c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_47.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.01242344 0.08901676 -0.02295964
+v -0.01469049 0.08896487 -0.02295964
+v -0.00835765 0.08730083 -0.02295965
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+v -0.01242344 0.08373751 -0.02776994
+v -0.03634989 0.08314939 -0.02776994
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+v -0.05589125 0.05730309 -0.02777004
+v -0.05589125 0.05367400 -0.02295977
+v -0.00152988 0.05494365 -0.02295977
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+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 11 15 16
+f 11 16 12
+f 14 17 16
+f 14 16 15
+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_48.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2054dcd17596a97954cf8ecfe4737d44461cbdda
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_48.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.07327772 -0.07725599 0.04352730
+v -0.07327772 -0.05982426 0.04283738
+v -0.07336209 -0.05982426 0.04276267
+v -0.07375401 -0.07725599 0.04308782
+v -0.07327772 -0.07725582 -0.00136937
+v -0.07327772 -0.05982413 0.00898030
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+v -0.07889866 -0.07725596 0.03671105
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_49.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb049a20f56ffad530eb99801003cc1908e35775
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_49.obj
@@ -0,0 +1,610 @@
+# https://github.com/mikedh/trimesh
+v 0.09368259 0.03755594 -0.05867777
+v 0.09926756 0.03755593 -0.05844179
+v 0.11765051 0.03421115 -0.03812310
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_5.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27cb48e6d3ee5ec07b2cdc877d1e3f832c816447
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_5.obj
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_50.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca6a2e8c0939916c29274e0a46d1fcddbd512a48
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_50.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.04317870 -0.05625677 -0.02555057
+v -0.04489272 -0.05625678 -0.02213544
+v -0.04344031 -0.05625676 -0.02777046
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_51.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a769e0bba5233d7de75c68678bd418f217fc1db4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_51.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_52.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e42b36ec6f316175f5d45578168c483e1707157
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_52.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.03946574 -0.05536066 -0.01739609
+v 0.03946574 -0.05532661 -0.01738600
+v 0.03714098 -0.05604175 -0.00594289
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_53.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ab1f9558a89562ad8e78133ff8517246b6be808
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_53.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_54.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4f293cd24facb99978af3d64d655ea404e4fba0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_54.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_55.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..397d9f3a9fab4b8934a5060b00399e58915088fd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_55.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_56.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99324088887b6158a5d79a417b6590964331648c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_56.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_57.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fb7dd8f8301b6c494b9dff09715b5b151a840d1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_57.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_58.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f37a0a01fa190c50c1d1b4db2255ef771f7bb75
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_58.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_59.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2874633c8400e41043c6a746f1760ef0a7b0ebeb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_59.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_6.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8677a962cc5146ca57a3829d31c0b90a633a7c28
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_6.obj
@@ -0,0 +1,607 @@
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_60.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..558124e1417cd845fd7ff75e0fa559a4a728d98f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_60.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_61.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed889776a3b29d1424f741a3e49edd47307c46dc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_61.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_62.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fa9d1b09060031972acb9b96703605b36289cfc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_62.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_63.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99b7e983b26d662af26ef315aaf1bb724a409346
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_63.obj
@@ -0,0 +1,481 @@
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_64.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fd73f3de50863e6ab2f24132d9050832f3aebfc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_64.obj
@@ -0,0 +1,694 @@
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_65.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12e1dcce4a6a489b323325269361b089975eea23
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_65.obj
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_66.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f7993df47062dcc1e7297d7a2b88afed1d18a6d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_66.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_67.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bfd1b364ff7a3bc5dfac734f60f6e5e52fc1b37
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_67.obj
@@ -0,0 +1,403 @@
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_68.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4601eb27e0ec7775793098873a09386e70046b5c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_68.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_69.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27754ff6e429c21e208da1998204c02d18f7122f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_69.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.05225845 -0.10771223 -0.01739629
+v -0.05225845 -0.10759918 -0.01334357
+v -0.07097256 -0.10983336 -0.01739629
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+f 11 18 12
+f 14 17 15
+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_7.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc532c6c488d30fa9290f1ff6ca149ba012ad7ad
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_7.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_70.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..176f3aa5efd761af1e9238a63a73606e3d539c6c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_70.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.01641016 0.12170699 0.00604727
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_71.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..755ef9f067296681cd020da58afbd8e035b69b7d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_71.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_72.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62f9601de20213c191470b50a657e519a3b117f1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_72.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_73.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d1bd921a84c38af28171d675c2f0718ab5eb3e5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_73.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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+v -0.00838941 0.08668971 0.05886997
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_74.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f79b5f52d214c1ccfcce7222f6addcd8ae170a8b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_74.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_75.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..191b636cf077d38daf7847f48b3d1e3da1ec0436
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_75.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_76.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa97a592f2f3ecb4fb70b1b0efbbf7741f9a8ec9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_76.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_77.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9271dc8b52a4c5fd3c77e0b95dae3674b990d16b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_77.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_78.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41769b33201c935a99b57999c22c74a15d343d0c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_78.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_79.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92a7caa78f41f9d6b28f37ee24a290a8e85364fd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_79.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.03965065 0.11966173 0.01240470
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_8.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4b611e30a7d95fecc75924d0168a3fd9319d110
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_8.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_80.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5202a6037fdb51c8e33334fd6af620f34a623042
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_80.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
+v 0.11210550 -0.00931199 -0.03931965
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_81.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..981edae901657218d4e1c3b1bb04b92129bf3819
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_81.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_82.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09311a00a8f6941c48dd8d37ff62e39ccf9f8775
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_82.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_83.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6a552525af438ad962cc6a3e594c0d9996b2a4a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_83.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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+f 7 13 14
+f 7 14 8
+f 9 15 10
+f 10 15 17
+f 10 17 18
+f 10 18 19
+f 10 19 16
+f 11 20 12
+f 11 21 20
+f 16 19 22
+f 18 23 19
+f 19 23 22
+f 20 21 24
+f 21 25 24
+f 22 23 26
+f 23 27 28
+f 23 28 29
+f 23 29 30
+f 23 30 31
+f 23 31 26
+f 24 25 32
+f 24 32 33
+f 27 34 35
+f 27 35 36
+f 27 36 28
+f 28 36 37
+f 28 37 29
+f 29 37 38
+f 29 38 39
+f 29 39 30
+f 30 39 40
+f 32 41 33
+f 33 42 43
+f 33 41 44
+f 33 44 45
+f 33 45 42
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+f 34 47 35
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+f 35 37 36
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+f 37 48 49
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+f 38 50 40
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+f 38 49 50
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+f 42 52 53
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+f 46 55 47
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+f 48 57 58
+f 48 58 49
+f 49 58 59
+f 49 59 60
+f 49 60 61
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+f 49 62 50
+f 50 62 51
+f 51 62 63
+f 52 64 65
+f 52 65 53
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+f 54 67 56
+f 54 56 55
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+f 56 68 57
+f 57 68 69
+f 57 69 70
+f 57 70 58
+f 58 70 71
+f 58 71 72
+f 58 72 73
+f 58 73 59
+f 59 73 74
+f 59 74 60
+f 61 63 62
+f 64 75 65
+f 65 75 76
+f 66 77 67
+f 67 77 78
+f 67 78 79
+f 68 79 80
+f 68 80 69
+f 69 80 81
+f 69 81 82
+f 69 82 70
+f 70 82 83
+f 70 83 71
+f 71 83 72
+f 75 84 85
+f 75 85 76
+f 75 86 84
+f 78 87 88
+f 78 88 80
+f 78 80 79
+f 80 88 89
+f 80 89 90
+f 80 90 91
+f 80 91 81
+f 81 91 82
+f 82 91 90
+f 82 90 92
+f 82 92 93
+f 82 93 94
+f 84 86 93
+f 86 94 93
+f 87 95 88
+f 88 95 89
+f 89 95 96
+f 89 96 92
+f 89 92 90
+f 92 96 97
+f 92 97 93
+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_84.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a24e8a30c2793f3f62680d5bee169ef72860213
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_84.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.03557224 -0.05314830 0.02506768
+v -0.03200732 -0.05466835 0.02506768
+v -0.03557224 -0.05501025 0.02506768
+v -0.03557224 -0.04355835 0.03338948
+v -0.03236264 -0.04355836 0.03408007
+v -0.03152441 -0.05501025 0.02506768
+v -0.02039778 -0.04355837 0.03836808
+v -0.01804211 -0.04355837 0.03939674
+v -0.03557224 -0.05501035 0.05211917
+v -0.03557224 -0.04355842 0.05189094
+v -0.01552154 -0.04355838 0.04092240
+v -0.01642455 -0.05501031 0.03991104
+v -0.01552154 -0.05501036 0.05458680
+v -0.01552154 -0.05358223 0.05458102
+v -0.01552154 -0.04559973 0.05454349
+v -0.01552154 -0.04355843 0.05453194
+v -0.03557224 -0.05280314 0.05210184
+v -0.03557224 -0.04482176 0.05193428
+v -0.01552154 -0.05501031 0.04100038
+v -0.03557224 -0.04881245 0.05203251
+f 1 2 6
+f 1 6 3
+f 1 3 9
+f 1 9 17
+f 1 17 20
+f 1 20 18
+f 1 18 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 6 12
+f 3 12 19
+f 3 19 13
+f 3 13 9
+f 4 10 16
+f 4 16 11
+f 4 11 8
+f 4 8 7
+f 4 7 5
+f 6 8 11
+f 6 11 12
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 10 18 16
+f 11 16 15
+f 11 15 14
+f 11 14 13
+f 11 13 19
+f 11 19 12
+f 16 18 20
+f 16 20 17
+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_85.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f5d9d230b23a822e193bc97a350af7954cc4d0d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_85.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.08666108 0.12028926 0.00705197
+v -0.08661161 0.12027623 0.00604726
+v -0.08716724 0.11988284 0.00705197
+v -0.08453747 0.12027839 0.00705197
+v -0.08370020 0.12023711 0.00173924
+v -0.08401988 0.12022842 0.00173924
+v -0.08636042 0.12015018 0.00360619
+v -0.08878849 0.11803554 0.00705196
+v -0.08140533 0.12020669 0.00209755
+v -0.08127974 0.12021103 0.00173924
+v -0.07725326 0.11903960 0.00705197
+v -0.07188715 0.11893748 0.00173924
+v -0.08575530 0.11981115 0.00173924
+v -0.08659638 0.11877882 0.00173924
+v -0.08726619 0.11822681 0.00221299
+v -0.08981224 0.11682935 0.00705196
+v -0.08920332 0.11756175 0.00705196
+v -0.07623712 0.11884401 0.00705197
+v -0.06099509 0.11671853 0.00173923
+v -0.08718247 0.11803773 0.00173923
+v -0.09025371 0.11591221 0.00705196
+v -0.05309816 0.11400187 0.00705195
+v -0.05790102 0.11606871 0.00173923
+v -0.08856015 0.11442569 0.00173922
+v -0.09046302 0.11406273 0.00699631
+v -0.09044780 0.11430831 0.00705195
+v -0.08881894 0.11406275 0.00209753
+v -0.08993402 0.11406274 0.00502120
+v -0.05196404 0.11361720 0.00705195
+v -0.05467754 0.11516244 0.00173922
+v -0.08864768 0.11406275 0.00173922
+v -0.09060003 0.11007254 0.00650849
+v -0.09071801 0.11007253 0.00705193
+v -0.09047444 0.11406273 0.00705195
+v -0.08898259 0.11009211 0.00173920
+v -0.08915384 0.11007255 0.00209751
+v -0.09007103 0.11007254 0.00453338
+v -0.05196404 0.11331730 0.00173922
+v -0.05196404 0.09808673 0.00705189
+v -0.09067234 0.10608235 0.00624846
+v -0.09083979 0.10608234 0.00705192
+v -0.08916907 0.10608236 0.00173919
+v -0.08932510 0.10608236 0.00209750
+v -0.09014334 0.10608235 0.00427439
+v -0.05196404 0.09808675 0.00173916
+v -0.08772669 0.09808673 0.00705189
+v -0.09013953 0.10209215 0.00429934
+v -0.09064570 0.10209215 0.00627393
+v -0.09080173 0.10209214 0.00705191
+v -0.08919570 0.10209216 0.00173918
+v -0.08934794 0.10209216 0.00209749
+v -0.08895594 0.09808675 0.00173916
+v -0.09070659 0.09809977 0.00705189
+v -0.09058100 0.09808674 0.00641588
+v -0.09011289 0.09808674 0.00443089
+v -0.08931369 0.09808675 0.00209747
+v -0.08916526 0.09809979 0.00173916
+f 1 2 3
+f 1 3 8
+f 1 8 17
+f 1 17 16
+f 1 16 21
+f 1 21 26
+f 1 26 34
+f 1 34 33
+f 1 33 41
+f 1 41 49
+f 1 49 53
+f 1 53 46
+f 1 46 39
+f 1 39 29
+f 1 29 22
+f 1 22 18
+f 1 18 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 4 11 12
+f 4 12 9
+f 5 10 12
+f 5 12 19
+f 5 19 23
+f 5 23 30
+f 5 30 38
+f 5 38 45
+f 5 45 52
+f 5 52 57
+f 5 57 50
+f 5 50 42
+f 5 42 35
+f 5 35 31
+f 5 31 24
+f 5 24 20
+f 5 20 14
+f 5 14 13
+f 5 13 6
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+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 9 12 10
+f 11 18 12
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+f 14 20 15
+f 15 20 16
+f 16 20 21
+f 18 22 19
+f 19 22 23
+f 20 24 21
+f 21 25 26
+f 21 24 27
+f 21 27 28
+f 21 28 25
+f 22 29 30
+f 22 30 23
+f 24 31 27
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 25 28 37
+f 25 37 32
+f 27 31 35
+f 27 35 36
+f 27 36 28
+f 28 36 37
+f 29 38 30
+f 29 39 45
+f 29 45 38
+f 32 40 33
+f 32 37 40
+f 33 40 41
+f 35 42 36
+f 36 42 43
+f 36 43 37
+f 37 43 44
+f 37 44 40
+f 39 46 54
+f 39 54 55
+f 39 55 56
+f 39 56 52
+f 39 52 45
+f 40 44 47
+f 40 47 48
+f 40 48 41
+f 41 48 49
+f 42 50 43
+f 43 51 44
+f 43 50 51
+f 44 51 47
+f 46 53 54
+f 47 55 48
+f 47 51 56
+f 47 56 55
+f 48 54 49
+f 48 55 54
+f 49 54 53
+f 50 57 51
+f 51 57 56
+f 52 56 57
+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_86.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d635c575ca2304d4a63f7927ef2680dd63c08868
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_86.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.07292733 -0.02545315 -0.02777034
+v -0.07292733 -0.02545315 -0.02841194
+v -0.07292733 -0.02348291 -0.02777034
+v -0.08608786 -0.02545315 -0.02777034
+v -0.07292733 -0.02461417 -0.02818248
+v -0.08119985 -0.02545313 -0.03198757
+v -0.08302673 -0.00931201 -0.03186686
+v -0.08121144 -0.00931202 -0.03095970
+v -0.08036371 -0.00931202 -0.03042747
+v -0.07717245 -0.00931203 -0.02821906
+v -0.07652699 -0.00931203 -0.02777028
+v -0.08608786 -0.02545313 -0.03352957
+v -0.08608786 -0.00931203 -0.02777028
+v -0.08130807 -0.02545313 -0.03202817
+v -0.08608786 -0.00931201 -0.03310891
+v -0.08437435 -0.00931201 -0.03243517
+v -0.08440399 -0.02545313 -0.03308924
+v -0.08421588 -0.02545313 -0.03303794
+f 1 2 5
+f 1 5 3
+f 1 3 11
+f 1 11 13
+f 1 13 4
+f 1 4 12
+f 1 12 17
+f 1 17 18
+f 1 18 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 5
+f 3 5 11
+f 4 13 15
+f 4 15 12
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 15
+f 7 15 13
+f 7 13 11
+f 7 11 10
+f 7 10 9
+f 7 9 8
+f 12 15 17
+f 14 18 15
+f 15 18 17
+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_87.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1717e9ae166f70628fc02a6197314fc7b4669727
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_87.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.02216084 0.06510804 0.02185991
+v 0.02216084 0.07648806 0.02185995
+v 0.01003312 0.06002288 0.02185989
+v 0.02216084 0.05157207 0.00423673
+v 0.02216084 0.07648816 -0.00593968
+v -0.00695024 0.07648806 0.02185995
+v 0.00754546 0.05933511 0.02185989
+v -0.00695024 0.05572549 0.02082289
+v -0.00695024 0.05508163 0.01961445
+v -0.00695024 0.05445726 0.01789705
+v -0.00695024 0.05201350 0.00852616
+v -0.00695024 0.05179888 0.00749735
+v -0.00695024 0.05159890 0.00473481
+v 0.00364156 0.05157209 -0.00095086
+v 0.02216084 0.05157211 -0.00593977
+v -0.00695024 0.07648816 -0.00593968
+v -0.00695024 0.05653766 0.02185988
+v -0.00695024 0.05162085 0.00209746
+v -0.00021389 0.05157211 -0.00593977
+v 0.00096868 0.05157210 -0.00303570
+v 0.00115960 0.05157210 -0.00280163
+v -0.00695024 0.05263548 -0.00593977
+v -0.00695024 0.05164769 0.00052975
+v -0.00695024 0.05184282 -0.00291594
+v -0.00695024 0.05257694 -0.00580096
+f 1 2 6
+f 1 6 17
+f 1 17 7
+f 1 7 3
+f 1 3 4
+f 1 4 15
+f 1 15 5
+f 1 5 2
+f 2 5 16
+f 2 16 6
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 21
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+f 4 20 19
+f 4 19 15
+f 5 15 19
+f 5 19 22
+f 5 22 16
+f 6 16 22
+f 6 22 25
+f 6 25 24
+f 6 24 23
+f 6 23 18
+f 6 18 13
+f 6 13 12
+f 6 12 11
+f 6 11 10
+f 6 10 9
+f 6 9 8
+f 6 8 17
+f 7 17 8
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 19 25 22
+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_88.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e57a4511bec581bd3c47fe9e51dbfafd83d49fd0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_88.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.08440150 -0.06027203 -0.04463952
+v 0.05913006 -0.06027203 -0.04309072
+v 0.08440150 -0.06027198 -0.05797901
+v 0.08440150 -0.00931195 -0.04841248
+v 0.05913006 -0.06027198 -0.05826405
+v 0.05913006 -0.00931195 -0.04900729
+v 0.08330811 -0.06027198 -0.05814542
+v 0.08440150 -0.04958713 -0.05849139
+v 0.08440150 -0.00931191 -0.05961165
+v 0.05937743 -0.06027198 -0.05827394
+v 0.05913006 -0.00943163 -0.05991811
+v 0.05913006 -0.00931191 -0.05992141
+v 0.07932049 -0.06027198 -0.05848484
+v 0.08440150 -0.04559651 -0.05866933
+v 0.08330811 -0.00931191 -0.05965284
+v 0.08440150 -0.00941167 -0.05961165
+v 0.06336752 -0.06027198 -0.05842058
+v 0.07533039 -0.06027197 -0.05863313
+v 0.07134524 -0.06027197 -0.05860017
+v 0.07005150 -0.06027197 -0.05858040
+v 0.06735515 -0.06027197 -0.05853262
+v 0.06606387 -0.06027198 -0.05849967
+v 0.06300389 -0.00931191 -0.05990164
+v 0.08440150 -0.03474704 -0.05908285
+v 0.08440150 -0.04160590 -0.05882419
+v 0.08440150 -0.03084622 -0.05921629
+v 0.08440150 -0.03286647 -0.05915204
+v 0.07932049 -0.00931191 -0.05972699
+v 0.08330811 -0.01766225 -0.05954248
+v 0.08440150 -0.01875468 -0.05948152
+v 0.07932049 -0.02165286 -0.05951943
+v 0.08330811 -0.02564347 -0.05939752
+v 0.08440150 -0.02705016 -0.05932832
+v 0.06699399 -0.00931191 -0.05987363
+v 0.07533039 -0.01766225 -0.05963474
+v 0.07895686 -0.00931191 -0.05973358
+v 0.07932049 -0.01366666 -0.05966440
+v 0.08440150 -0.02165286 -0.05943870
+v 0.08330811 -0.02165286 -0.05948318
+v 0.07932049 -0.01766225 -0.05960014
+v 0.08440150 -0.02267047 -0.05942057
+v 0.07134524 -0.00931191 -0.05983079
+v 0.07533039 -0.01366666 -0.05971547
+v 0.07533039 -0.00967605 -0.05978301
+v 0.07533039 -0.00931191 -0.05978795
+v 0.07496923 -0.00931191 -0.05979289
+f 1 2 5
+f 1 5 10
+f 1 10 17
+f 1 17 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 25
+f 1 25 24
+f 1 24 27
+f 1 27 26
+f 1 26 33
+f 1 33 41
+f 1 41 38
+f 1 38 30
+f 1 30 16
+f 1 16 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 12
+f 2 12 11
+f 2 11 5
+f 3 7 8
+f 4 9 15
+f 4 15 28
+f 4 28 36
+f 4 36 45
+f 4 45 46
+f 4 46 42
+f 4 42 34
+f 4 34 23
+f 4 23 12
+f 4 12 6
+f 5 11 10
+f 7 13 14
+f 7 14 8
+f 9 16 15
+f 10 11 17
+f 11 12 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 17
+f 12 23 18
+f 13 24 25
+f 13 25 14
+f 13 18 26
+f 13 26 27
+f 13 27 24
+f 15 16 29
+f 15 29 28
+f 16 30 29
+f 18 23 31
+f 18 31 32
+f 18 32 33
+f 18 33 26
+f 23 34 35
+f 23 35 31
+f 28 29 36
+f 29 37 36
+f 29 30 38
+f 29 38 39
+f 29 39 37
+f 31 35 40
+f 31 40 39
+f 31 39 32
+f 32 39 33
+f 33 39 41
+f 34 42 43
+f 34 43 35
+f 35 43 40
+f 36 37 44
+f 36 44 45
+f 37 39 44
+f 38 41 39
+f 39 40 44
+f 40 43 44
+f 42 46 44
+f 42 44 43
+f 44 46 45
+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_89.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11ea4a79b657e4c8062b8f2f55713709c3ea59f3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_89.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.09139745 -0.05982253 0.00549131
+v -0.09021615 -0.04355825 0.00549137
+v -0.08122162 -0.05982253 0.00549131
+v -0.09131763 -0.05982253 0.00604707
+v -0.08126773 -0.04355825 0.00549137
+v -0.09002104 -0.04355826 0.00684786
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_9.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96009265f6182ee4988321cad08868d848362a73
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_9.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_90.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0505523c383240476cdad28ebecd73aabe23a208
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_90.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_91.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..691080ba859841d28096bd124f6393aaed804771
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_91.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_92.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4953fd4d5d34c45ff5af8dd492d28bcf2980bf21
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_92.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.00695024 0.07648799 0.03986253
+v -0.00695024 0.07648793 0.05804326
+v 0.00580720 0.07648799 0.03986253
+v -0.00695024 0.06756042 0.03986250
+v -0.00444146 0.07648793 0.05809323
+v -0.00695024 0.03551576 0.05613348
+v -0.00444146 0.03551576 0.05624591
+v 0.00580720 0.07648793 0.05698136
+v 0.00580720 0.06577972 0.03986249
+v 0.00580720 0.03551581 0.04284997
+v -0.00695024 0.03551581 0.04410996
+v -0.00045414 0.07648793 0.05776128
+v -0.00045414 0.03551576 0.05608886
+v 0.00353443 0.07648793 0.05733295
+v 0.00573227 0.03551577 0.05546065
+v 0.00580720 0.03551577 0.05544459
+v 0.00082835 0.03551576 0.05596929
+v 0.00376296 0.03551577 0.05568730
+f 1 2 5
+f 1 5 12
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+f 1 14 8
+f 1 8 3
+f 1 3 9
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+f 1 4 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 16
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+f 5 7 13
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+f 6 17 13
+f 6 13 7
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+f 8 15 16
+f 12 13 17
+f 12 17 18
+f 12 18 14
+f 14 18 15
+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_93.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef3f6b08cdb7c9e14a1a4bb292601c4237edbeac
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_93.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.07938991 -0.07725596 0.03593217
+v -0.07938991 -0.05982423 0.03548954
+v -0.07953234 -0.05982423 0.03526820
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+v -0.08950237 -0.07725590 0.01836396
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+v -0.08822941 -0.05982417 0.01789264
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+v -0.09055871 -0.05982414 0.00966600
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+v -0.09427076 -0.07725585 0.00437826
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+v -0.09182128 -0.05982411 0.00209929
+v -0.09156017 -0.05982412 0.00432503
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_94.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b56cfed815190fb6c8cee75f370b69ea04bd00db
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_94.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.08818772 -0.11205330 -0.02777066
+v 0.07533420 -0.11201802 -0.02777066
+v 0.07533420 -0.11201802 -0.02830279
+v 0.08818772 -0.11194745 -0.02843568
+v 0.08818772 -0.05197774 -0.02777044
+v 0.07134460 -0.11180632 -0.02777066
+v 0.07134460 -0.11180632 -0.02815685
+v 0.06421261 -0.10913065 -0.03345090
+v 0.08818772 -0.11021267 -0.03383057
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+v 0.06899778 -0.11155933 -0.02779083
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+v 0.06421261 -0.10896599 -0.03375048
+v 0.06421261 -0.10891895 -0.03383057
+v 0.08818772 -0.08260355 -0.03383047
+v 0.07970397 -0.07792264 -0.03383046
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_95.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07795e648fd6ab9f1b4fa0688958e92abe6e844f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_95.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.00152861 0.04918109 -0.01739571
+v -0.04289786 0.05461769 -0.01739569
+v -0.00152861 0.04919482 -0.01748993
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+v -0.04289786 0.11906746 -0.01739545
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+v -0.00152861 0.08407968 -0.02295966
+v -0.00152861 0.11691892 -0.01925270
+v -0.00444479 0.11848400 -0.01773422
+v -0.00444479 0.11875857 -0.01739545
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+v -0.04033810 0.11006826 -0.02191658
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+v -0.03236316 0.11006826 -0.02217256
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+v -0.02837366 0.11877917 -0.01809205
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+v -0.00843428 0.11006826 -0.02219217
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+v -0.00152861 0.11006826 -0.02196451
+v -0.01241973 0.11406334 -0.02119763
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+v -0.02039872 0.11923221 -0.01739545
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+
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_96.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e95d79147acb9ad3b639995501bf08bae2b0547a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_96.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.04290190 0.05462176 -0.01739569
+v -0.05588998 0.04500791 -0.01739572
+v -0.05588998 0.04502241 -0.01747796
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_97.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc6a278a5dc3b2a26e71992c6165c20b9398fd33
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_97.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_98.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1a077382f7edb95571bcd4559694c33bd211e9b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_98.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_99.obj b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14827cc95c1e7a7f700e349e72de1a85b42330ea
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/mjcf/mesh/yellow_cloth_collision_99.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/textures/material_0.png b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6cedd1934388a17adfd7aee03cf124c4d496e2d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1828334
diff --git a/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/video.mp4 b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9919b97c2efce30de33d44d2c04cf456abdab157
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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