diff --git a/.gitattributes b/.gitattributes
index 59d09a311fe58bdda61512bf34be2accd964c363..fb09d735963fad082153bbc87e726c387665828f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2934,3 +2934,6 @@ dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mini_sculp
 dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/mesh/phone_stand_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/9d654babd3485be9ae8f936ca3444381/phone_stand_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/ae29d8489c035790963e275fd17165e0/ae29d8489c035790963e275fd17165e0.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/af5ccbcad0045e1c9bf4898b2977c1b0.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mesh/chessboard.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mesh/chessboard_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/af5ccbcad0045e1c9bf4898b2977c1b0.urdf b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/af5ccbcad0045e1c9bf4898b2977c1b0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..50082299e046c13f141db09bdde4a12e059895a6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/af5ccbcad0045e1c9bf4898b2977c1b0.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="chessboard">
+   <link name="chessboard">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/chessboard.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/chessboard_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="2.7500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.418760</scale>
+         <version>v0.1.7</version>
+         <category>chessboard</category>
+         <description>golden chess pieces on a wooden chessboard</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>2.0</min_mass>
+         <max_mass>3.5</max_mass>
+         <generate_time>20260119220925</generate_time>
+         <gs_model>mesh/chessboard_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.640567302703857</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/af5ccbcad0045e1c9bf4898b2977c1b0.usd b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/af5ccbcad0045e1c9bf4898b2977c1b0.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9be9635f075c2afe20311d80fc9dfeebf72a3da1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/af5ccbcad0045e1c9bf4898b2977c1b0.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faa9fa3c3c366ea9f8497261a5884425ac64ecc656c8af6f4ad7d5de8a92e9cf
+size 670850
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mesh/chessboard.glb b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mesh/chessboard.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7431f0af0c44e6090b70660577cdf959e070d899
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mesh/chessboard.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9568b630080142194f651bac5f705b3ad81871e5c5acde0b9960b4b59c632288
+size 3426264
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mesh/chessboard.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mesh/chessboard.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ed6c4ee605b5b80da0036c33e1fe8e6def646f8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mesh/chessboard.obj
@@ -0,0 +1,46472 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mesh/chessboard_collision.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mesh/chessboard_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d16b88075597f92b03d7bffd21939c1f77e0e47d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mesh/chessboard_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mesh/chessboard_gs.ply b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mesh/chessboard_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c3455efaf36119729ca49ca98077ec9f670c8b73
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mesh/chessboard_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:599be24ef9846e4d93949946dac36b6dd2c5e43011f4095947088804e1e31f8e
+size 4096201
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mesh/material.mtl b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+Kd 0.98039216 0.98039216 0.98039216
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mesh/material_0.png b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b594fa1c28ebc2f7bf2e100409c22677dfb7405c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0e234130b5e06cda248525116fb55dfa92be10f0b4592898a032054a40f5482
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diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/af5ccbcad0045e1c9bf4898b2977c1b0.xml b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/af5ccbcad0045e1c9bf4898b2977c1b0.xml
new file mode 100644
index 0000000000000000000000000000000000000000..89b1088ae855740a1e0d0f0c824aba46e151bfb9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/af5ccbcad0045e1c9bf4898b2977c1b0.xml
@@ -0,0 +1,116 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="chessboard">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/chessboard.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/chessboard_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/chessboard_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/chessboard_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/chessboard_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/chessboard_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/chessboard_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/chessboard_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/chessboard_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/chessboard_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/chessboard_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/chessboard_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/chessboard_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/chessboard_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/chessboard_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/chessboard_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/chessboard_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/chessboard_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/chessboard_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/chessboard_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/chessboard_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/chessboard_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/chessboard_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/chessboard_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/chessboard_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/chessboard_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/chessboard_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/chessboard_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/chessboard_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/chessboard_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/chessboard_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/chessboard_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/chessboard_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/chessboard_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/chessboard_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/chessboard_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/chessboard_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/chessboard_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/chessboard_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/chessboard_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/chessboard_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/chessboard_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/chessboard_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/chessboard_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/chessboard_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/chessboard_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/chessboard_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/chessboard_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/chessboard_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/chessboard_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/chessboard_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/chessboard_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  <worldbody>
+    <body name="chessboard">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42c2973786efbdbd2b20cfa50c86ad3fae8c6b48
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard.obj
@@ -0,0 +1,46472 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..461348a54a3eaa7c025a98fbc43b374b88c623bc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision.obj
@@ -0,0 +1,10187 @@
+# https://github.com/mikedh/trimesh
+
+o chessboard_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_0.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc5f3c5bf8ef82f1a19698fdcb43cc6fcd52c7da
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_0.obj
@@ -0,0 +1,700 @@
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diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_1.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec8d77b097b1f1eb2c9ead4c7fd355132b4ece80
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_1.obj
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+v -0.14855491 -0.03119716 -0.00068760
+v -0.14598874 -0.03482924 0.00454565
+v -0.13700606 -0.03469011 0.00519131
+v -0.14121457 -0.03507797 0.00419521
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+v -0.13335227 -0.02406373 -0.00068758
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+v -0.13604292 -0.01877902 -0.00068756
+v -0.14938264 -0.02116315 -0.00068757
+v -0.15050520 -0.02383818 -0.00068758
+v -0.14467836 -0.03233968 -0.00068761
+v -0.14121457 -0.03332833 -0.00068761
+v -0.14009856 -0.03285825 -0.00068761
+f 1 2 3
+f 1 3 4
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+f 1 5 6
+f 1 6 7
+f 1 7 8
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+f 1 9 2
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+f 2 9 10
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+f 3 12 13
+f 3 13 4
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+f 5 14 15
+f 5 15 16
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+f 30 47 31
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+f 39 53 40
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+f 40 51 50
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+f 40 46 55
+f 40 55 54
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+f 43 55 44
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+f 45 55 46
+f 46 56 47
+f 47 56 57
+f 47 57 49
+f 48 49 57
+f 48 57 58
+f 48 58 50
+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_10.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e54f2bfd0ce292f2c7a4b8b9d6da131bbf18db6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_10.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.15428747 -0.02383820 0.04313655
+v 0.15517783 -0.03069524 0.04313653
+v 0.15583720 -0.03069526 0.04906560
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+v 0.15574061 -0.01698119 0.04912178
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+v 0.15812607 -0.02705016 -0.01026711
+v 0.15689134 -0.03630821 0.04820253
+v 0.15895762 -0.03129004 -0.01026712
+v 0.18420248 -0.02169544 0.06086762
+v 0.18336673 -0.01698124 0.06141493
+v 0.16187648 -0.01012000 0.05114961
+v 0.15789089 -0.00610896 0.04787987
+v 0.15789089 -0.00610895 0.04591521
+v 0.16019656 -0.01710163 -0.01026707
+v 0.16020496 -0.03920828 0.04313650
+v 0.16311961 -0.04257441 0.04819548
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+v 0.18714232 -0.02169544 0.06086762
+v 0.16876411 -0.04376024 0.04900240
+v 0.17565174 -0.04408479 0.04908659
+v 0.18813767 -0.01698124 0.06141493
+v 0.18426968 -0.01146814 0.06096589
+v 0.16187648 -0.00496890 0.04897447
+v 0.16187648 -0.00496888 0.04472238
+v 0.16876411 -0.01045680 -0.01026705
+v 0.16395117 -0.01252057 -0.01026706
+v 0.16876411 -0.04433441 0.04313648
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+v 0.19158148 -0.01698122 0.05812413
+v 0.18723891 -0.03533460 0.05368253
+v 0.19425674 -0.03581307 0.04817446
+v 0.19547468 -0.03069526 0.04914278
+v 0.17565174 -0.04509168 0.04313647
+v 0.18253517 -0.04330671 0.04900941
+v 0.19520170 -0.01012001 0.05512804
+v 0.18769670 -0.01146814 0.06096589
+v 0.18253517 -0.00401193 0.05561924
+v 0.16876411 -0.00398278 0.04943758
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+v 0.19466412 -0.01698121 0.05477017
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+v 0.18685674 -0.01885750 -0.01026708
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+v 0.18422768 -0.01526671 -0.01026707
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+v 0.18072086 -0.01217938 -0.01026705
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+f 61 75 62
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+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_11.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..722d7f4d4ed0b266307507b63d83c466bc8a5205
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_11.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.16220399 0.10009081 -0.01631203
+v -0.16220399 0.10045903 -0.01631203
+v -0.16880447 0.09964465 -0.00376885
+v -0.16546739 0.07760108 -0.01631211
+v -0.16315514 0.10645677 -0.01631201
+v -0.16891335 0.10649920 -0.00376883
+v -0.17096299 0.09473741 -0.00376887
+v -0.17534410 0.07760103 -0.00385242
+v -0.16980366 0.07760106 -0.01062250
+v -0.19307667 0.07760108 -0.01631211
+v -0.17003745 0.14055957 -0.01631188
+v -0.17514553 0.14079320 -0.00376870
+v -0.17586931 0.09084278 -0.00376889
+v -0.18282207 0.07760103 -0.00381313
+v -0.18600542 0.07760104 -0.00674879
+v -0.19031287 0.09964465 -0.00376885
+v -0.19491815 0.09964470 -0.01631203
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+v -0.17518076 0.14085694 -0.00376870
+v -0.17615755 0.09070116 -0.00376889
+v -0.18225202 0.09018423 -0.00376889
+v -0.18263313 0.09041083 -0.00376889
+v -0.18781167 0.09394432 -0.00376887
+v -0.18788533 0.09400097 -0.00376887
+v -0.19027764 0.09955967 -0.00376885
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+v -0.19459469 0.14079325 -0.01631188
+v -0.17541455 0.14763364 -0.01631186
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+v -0.18698540 0.14501356 -0.00376869
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+v -0.18174601 0.14982172 -0.01631185
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+v -0.18254025 0.14993501 -0.01631185
+v -0.18954745 0.14764072 -0.01631186
+f 1 2 3
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+f 28 32 29
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+f 30 34 35
+f 30 35 36
+f 30 36 31
+f 32 35 34
+f 32 34 33
+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_12.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44a5b3c135606766b9b11a433a90055dafbf9dac
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_12.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.17564867 0.00401234 0.04313545
+v 0.18722168 0.00622911 0.04532471
+v 0.18253622 0.00532653 0.04869083
+v 0.17564867 0.00452214 0.04916538
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+v 0.17564867 0.04259257 0.04235102
+v 0.16861679 0.03337823 -0.01026689
+v 0.17107425 0.04259257 0.04281291
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+f 67 70 68
+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_13.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a525ca1f6e1818231f6a1d90d109b292f26849cb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_13.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.19307825 0.07760108 -0.01631211
+v -0.19601764 0.07294800 -0.01631213
+v -0.18884527 0.07262862 -0.00383675
+v -0.18841181 0.07328683 -0.00383675
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+v -0.16545887 0.07760108 -0.01631211
+v -0.19626146 0.07252766 -0.01631213
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+v -0.19716225 0.06533950 -0.01631216
+v -0.18801899 0.05842175 -0.00383681
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+v -0.13426346 0.04599078 -0.01631223
+v -0.17602440 0.04431267 -0.01612296
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+f 1 11 18
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+f 29 33 40
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+f 40 41 46
+f 41 42 46
+f 43 45 44
+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_14.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae0daed8eb15c8078ac9c93900a4fbaec260e1a3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_14.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.18504926 0.13458881 -0.01026652
+v 0.18429875 0.14102890 -0.01026649
+v 0.18240982 0.13393248 0.00049886
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+v 0.17897424 0.09182036 0.00049871
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+v 0.16255955 0.09592976 0.00049872
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+v 0.16845454 0.14695993 -0.01026647
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+v 0.16717412 0.14206542 0.00049889
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+v 0.16206767 0.14077743 -0.01026649
+v 0.16475527 0.13895577 0.00049888
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+v 0.16046777 0.13393252 -0.01026652
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+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_15.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0985119207df23cacabcd953c23c66cc3b58230c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_15.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.17624035 -0.08671650 0.01110946
+v 0.16971647 -0.08671649 0.00951887
+v 0.17694909 -0.08671650 0.01051940
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+v 0.16501091 -0.08261415 -0.01026731
+v 0.16838904 -0.08567541 -0.01026732
+v 0.16848780 -0.08575881 -0.01026733
+v 0.17021607 -0.08671647 0.00304747
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+v 0.16529557 -0.08216334 0.03983634
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+v 0.17564779 -0.08400751 0.04313938
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+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_16.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfb484aab14da09f8af0c019ab673304f650f71b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_16.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.12743152 0.12002378 -0.01026657
+v 0.12202488 0.12210456 -0.01026656
+v 0.12773015 0.12004553 -0.01026657
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+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_17.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8591c0f5221b0f30d285ea1b243670fd90adfea2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_17.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.15834813 0.02022145 0.04666843
+v -0.15834813 0.02022145 0.04629239
+v -0.15834813 0.02135298 0.04666844
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+v -0.18666166 0.03122777 0.02781024
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+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_18.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86705e2c0ff40396b332041f246d8c42e3064e70
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_18.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.12743236 0.08608874 0.00956873
+v 0.13486918 0.08743900 0.00915437
+v 0.13422011 0.08775569 0.01618265
+v 0.12743236 0.08676384 0.01628070
+v 0.12280953 0.08834747 0.01628070
+v 0.12250635 0.08806619 0.00956873
+v 0.12267727 0.08824547 -0.01026669
+v 0.12742421 0.08656182 -0.01026669
+v 0.12765414 0.08656807 -0.01026669
+v 0.13824271 0.08880174 0.01111547
+v 0.13824271 0.08880173 0.01387996
+v 0.13414890 0.08796000 -0.01026669
+v 0.13185782 0.08882880 0.02011748
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+v 0.12381467 0.08921220 0.01976638
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+v 0.13445207 0.10534232 0.01637566
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+v 0.12715971 0.10519447 -0.01026662
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+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_19.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a991a8fb49e03ff6b39c0e609405b9e99c9d36e6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_19.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.19191579 -0.00563823 0.05090508
+v -0.19191579 -0.00563823 0.05190879
+v -0.19120934 -0.00563822 0.04856853
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diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_2.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc03cc72ed532829ff006fa129315d54308cf893
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_2.obj
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+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_20.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..533a80434d0edd6f2a4f6a76cce6429e0c9f7117
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_20.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_21.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9ae66b8523527ae4f4584b189adeb6968fa9f92
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_21.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_22.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..561f2dca89e18e7f211f06a4ee1d1af774dbbdd6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_22.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_23.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fad79e6507dc22a7f47f00da02be8bae7f67b418
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_23.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.19074311 0.06534079 -0.00383679
+v -0.18908016 0.07219699 0.00956947
+v -0.18884974 0.07263060 -0.00383676
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+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_24.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7158eeb35903825f987e6e8238a05c7ea53dc6ed
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_24.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.18412731 0.04431267 -0.01631093
+v -0.19574236 0.03069066 -0.01631098
+v -0.18919848 0.02974206 -0.00282380
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+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_25.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49d088354302faebc24b022a386fd74b10ae3da6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_25.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.17564585 0.04259253 0.05372759
+v 0.17140752 0.04259253 0.05372133
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+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_26.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4612ba5f35c584a1e530a42b7d20d4617e5308f3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_26.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.17295577 0.14512244 0.00049890
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+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_27.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..072ff1fa0694749004021678396fc0f3b17afcd2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_27.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.19669064 -0.07182197 -0.01631266
+v -0.19592677 -0.06481659 -0.01631264
+v -0.19526148 -0.07827196 -0.01631269
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+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_28.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26b23c38d3fd0f8ea3d7aaac5bfad6657f4bb36c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_28.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.18584915 -0.00563798 -0.01631242
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+f 26 34 35
+f 26 35 27
+f 30 36 37
+f 30 37 31
+f 32 38 33
+f 33 38 39
+f 36 40 37
+f 37 40 41
+f 37 41 42
+f 38 43 39
+f 38 44 43
+f 39 43 45
+f 41 46 42
+f 42 46 47
+f 42 47 48
+f 42 48 49
+f 43 44 45
+f 44 50 51
+f 44 51 52
+f 44 52 53
+f 44 53 54
+f 44 54 45
+f 48 55 49
+f 49 55 56
+f 50 56 51
+f 51 56 55
+f 51 55 52
+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_29.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7021a49a087742a231499dfbc7f9321100600875
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_29.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.16072920 -0.06040884 -0.01631262
+v -0.14827778 -0.05201699 -0.01631259
+v -0.16072920 -0.07624277 -0.01631268
+v -0.16072920 -0.06505895 -0.01411111
+v -0.15262835 -0.06499850 0.01494911
+v -0.15210391 -0.06074679 0.01399513
+v -0.14492991 -0.05457322 0.01320260
+v -0.14763789 -0.05195006 -0.01631259
+v -0.16072920 -0.07604835 -0.01617326
+v -0.15265144 -0.08421391 -0.01631271
+v -0.14641748 -0.07623969 0.01449775
+v -0.15243045 -0.07015536 0.01455281
+v -0.16072920 -0.07186359 -0.01330757
+v -0.15007540 -0.06499852 0.01830644
+v -0.14567864 -0.06078825 0.02013374
+v -0.14760161 -0.05848072 0.01583709
+v -0.14121592 -0.06065757 0.02020345
+v -0.14097514 -0.05676920 0.01577471
+v -0.14310919 -0.05457322 0.01320260
+v -0.14206360 -0.05165365 -0.01631259
+v -0.13300952 -0.08421391 -0.01631271
+v -0.14738061 -0.08421393 -0.01168950
+v -0.14121592 -0.07650423 0.01497108
+v -0.14121592 -0.07382701 0.01832476
+v -0.14626576 -0.06994183 0.02037953
+v -0.14863731 -0.07233540 0.01676167
+v -0.14663188 -0.06499853 0.02056668
+v -0.14121592 -0.06499853 0.02117210
+v -0.13737000 -0.06113565 0.01989157
+v -0.13585603 -0.05958348 0.01628106
+v -0.13480384 -0.05874523 0.00956638
+v -0.13577687 -0.05269586 -0.01631259
+v -0.13679608 -0.05239626 -0.01631259
+v -0.14121592 -0.05170783 -0.01631259
+v -0.13379784 -0.08421391 -0.01540275
+v -0.12846764 -0.07689614 -0.01631268
+v -0.13072374 -0.06877531 0.01323924
+v -0.13680267 -0.07595284 0.01407579
+v -0.14558629 -0.08421393 -0.01133358
+v -0.14121592 -0.08421393 -0.01072816
+v -0.14001530 -0.08421393 -0.01120883
+v -0.13661137 -0.08421392 -0.01277192
+v -0.13692471 -0.06953388 0.02018507
+v -0.14121592 -0.07039761 0.02060703
+v -0.13683565 -0.06499852 0.02024012
+v -0.13297653 -0.06491564 0.01579670
+v -0.13072374 -0.06714347 0.01323924
+v -0.12873811 -0.05937300 -0.01631262
+v -0.12922626 -0.05861765 -0.01631262
+v -0.13225090 -0.05564081 -0.01631260
+v -0.12704933 -0.07185402 -0.01631266
+v -0.13456636 -0.07144299 0.01589575
+v -0.12703284 -0.07127395 -0.01631266
+v -0.12703284 -0.06500157 -0.01631264
+f 1 2 8
+f 1 8 20
+f 1 20 34
+f 1 34 33
+f 1 33 32
+f 1 32 50
+f 1 50 49
+f 1 49 48
+f 1 48 54
+f 1 54 53
+f 1 53 51
+f 1 51 36
+f 1 36 21
+f 1 21 10
+f 1 10 3
+f 1 3 9
+f 1 9 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 10 11
+f 3 11 12
+f 3 12 9
+f 4 13 5
+f 5 12 14
+f 5 14 6
+f 5 13 12
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 15
+f 7 15 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 9 12 13
+f 10 21 35
+f 10 35 42
+f 10 42 41
+f 10 41 40
+f 10 40 39
+f 10 39 22
+f 10 22 11
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 11 22 23
+f 12 26 25
+f 12 25 14
+f 14 25 27
+f 14 27 15
+f 15 27 28
+f 15 28 17
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 18 30 19
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 21 36 37
+f 21 37 38
+f 21 38 35
+f 22 39 23
+f 23 38 24
+f 23 39 40
+f 23 40 41
+f 23 41 42
+f 23 42 38
+f 24 43 44
+f 24 44 25
+f 24 38 43
+f 25 44 28
+f 25 28 27
+f 28 44 43
+f 28 43 45
+f 28 45 29
+f 29 45 46
+f 29 46 30
+f 30 46 47
+f 30 47 31
+f 31 47 48
+f 31 48 49
+f 31 49 50
+f 31 50 32
+f 35 38 42
+f 36 51 37
+f 37 47 45
+f 37 45 43
+f 37 43 52
+f 37 52 38
+f 37 51 53
+f 37 53 54
+f 37 54 47
+f 38 52 43
+f 45 47 46
+f 47 54 48
+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_3.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80aa991410215bb5686b349e4615affaea67e7ca
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_3.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.14812313 0.04463796 -0.01960587
+v 0.14812313 0.05165631 -0.01774645
+v 0.14030210 0.05106937 -0.01026682
+v 0.14018116 0.05082483 -0.01026682
+v 0.13996750 0.05059252 -0.01026682
+v 0.14120112 0.03803534 -0.01960589
+v 0.14812313 0.14942402 -0.01960548
+v 0.14812313 0.05849123 -0.01639622
+v 0.14148736 0.05845453 -0.01026680
+v 0.13535551 0.04627636 -0.01026684
+v 0.13431943 0.03376809 -0.01960591
+v 0.14765145 0.15407031 -0.01960546
+v 0.14812313 0.13395675 -0.01753041
+v 0.14812313 0.05852791 -0.01639256
+v 0.14155992 0.13393229 -0.01026652
+v 0.13487980 0.04599513 -0.01026684
+v 0.12743371 0.03353577 -0.01960591
+v 0.12766753 0.04509033 -0.01026684
+v 0.12745386 0.04507810 -0.01026684
+v 0.13763329 0.15781179 -0.01960545
+v 0.13431943 0.14373840 -0.01026648
+v 0.13521038 0.14335937 -0.01026648
+v 0.13907654 0.14015586 -0.01026650
+v 0.14148332 0.13421351 -0.01026652
+v 0.14812313 0.13393231 -0.01752766
+v 0.12305555 0.03354800 -0.01960591
+v 0.12243470 0.04697330 -0.01026684
+v 0.13136438 0.15843538 -0.01960545
+v 0.12743371 0.14470434 -0.01026648
+v 0.13084029 0.14431307 -0.01026648
+v 0.11465803 0.03894014 -0.01960589
+v 0.11049757 0.04161787 -0.01960588
+v 0.11906038 0.05143618 -0.01026682
+v 0.12743371 0.15842315 -0.01960545
+v 0.12054396 0.15605111 -0.01960546
+v 0.11365824 0.15293319 -0.01960547
+v 0.12055604 0.14070608 -0.01026649
+v 0.11890719 0.05165628 -0.01026682
+v 0.10814321 0.04606853 -0.01960586
+v 0.10922363 0.14765110 -0.01960549
+v 0.11993924 0.13953228 -0.01026650
+v 0.11762115 0.05723182 -0.01026680
+v 0.10771990 0.05264670 -0.01960584
+v 0.10739335 0.14076725 -0.01960551
+v 0.11701644 0.13393229 -0.01026652
+v 0.11759293 0.05849121 -0.01026680
+v 0.10750623 0.05849124 -0.01960582
+v 0.10693780 0.13393232 -0.01960554
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 17
+f 1 17 26
+f 1 26 31
+f 1 31 32
+f 1 32 39
+f 1 39 43
+f 1 43 47
+f 1 47 48
+f 1 48 44
+f 1 44 40
+f 1 40 36
+f 1 36 35
+f 1 35 34
+f 1 34 28
+f 1 28 20
+f 1 20 12
+f 1 12 7
+f 1 7 13
+f 1 13 25
+f 1 25 14
+f 1 14 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 15
+f 3 15 24
+f 3 24 23
+f 3 23 22
+f 3 22 21
+f 3 21 30
+f 3 30 29
+f 3 29 37
+f 3 37 41
+f 3 41 45
+f 3 45 46
+f 3 46 42
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+f 3 33 27
+f 3 27 19
+f 3 19 18
+f 3 18 16
+f 3 16 10
+f 3 10 5
+f 3 5 4
+f 5 10 6
+f 6 10 11
+f 7 12 13
+f 8 14 9
+f 9 14 15
+f 10 16 11
+f 11 16 18
+f 11 18 19
+f 11 19 17
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 15
+f 12 15 13
+f 13 15 25
+f 14 25 15
+f 17 19 26
+f 19 27 26
+f 20 28 29
+f 20 29 30
+f 20 30 21
+f 26 27 31
+f 27 32 31
+f 27 33 32
+f 28 34 29
+f 29 34 35
+f 29 35 36
+f 29 36 37
+f 32 33 38
+f 32 38 39
+f 36 40 37
+f 37 40 41
+f 38 42 39
+f 39 42 43
+f 40 44 45
+f 40 45 41
+f 42 46 47
+f 42 47 43
+f 44 48 45
+f 45 48 47
+f 45 47 46
+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_30.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..402cbb2040abde3bcdf1216e149c0d53d7e7c119
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_30.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.14121560 0.07852639 -0.01631212
+v -0.14846299 0.07923740 -0.01631212
+v -0.13509099 0.07978011 -0.01631212
+v -0.14121560 0.08518989 0.01628263
+v -0.15247428 0.08153532 -0.01631211
+v -0.14704181 0.08733324 0.01628264
+v -0.13431274 0.08018542 -0.01631212
+v -0.13444194 0.08753247 0.01575394
+v -0.13681364 0.08853200 0.02033601
+v -0.14121560 0.08819194 0.02062553
+v -0.14555604 0.08862131 0.02026048
+v -0.15526434 0.08522436 -0.01631210
+v -0.15050862 0.09211457 0.01662254
+v -0.12801587 0.08633726 -0.01631209
+v -0.13076902 0.08917777 0.01316500
+v -0.13573699 0.09278091 0.02182141
+v -0.14067112 0.09335452 0.02444393
+v -0.14259986 0.09602684 0.02648321
+v -0.14483929 0.09602684 0.02648321
+v -0.14649426 0.09335453 0.02269838
+v -0.15818052 0.09265053 -0.01631207
+v -0.15224972 0.09395910 0.01461265
+v -0.12778515 0.08707918 -0.01631209
+v -0.13039988 0.09278094 0.01405037
+v -0.13229171 0.09278093 0.01740720
+v -0.12675465 0.09278105 -0.01631207
+v -0.13847167 0.09963687 0.02618951
+v -0.14191695 0.09963687 0.02655456
+v -0.14492849 0.09963687 0.02655456
+v -0.14735250 0.09963689 0.02299633
+v -0.15606106 0.10009387 -0.01631204
+v -0.15224972 0.09830763 0.01461266
+v -0.13035374 0.09756914 0.01418467
+v -0.13585388 0.09963689 0.02283268
+v -0.12680387 0.09323789 -0.01631207
+v -0.13696745 0.10382742 0.02168298
+v -0.14305513 0.10323660 0.02648743
+v -0.14483621 0.10323660 0.02648743
+v -0.15307105 0.10460727 -0.01631203
+v -0.15065628 0.10021054 0.01662257
+v -0.13583849 0.10465182 0.01628270
+v -0.13241476 0.09976744 0.01636661
+v -0.12769903 0.10016257 -0.01631204
+v -0.12770826 0.10019005 -0.01631204
+v -0.12928939 0.10451110 -0.01631203
+v -0.14094182 0.10433921 0.02355022
+v -0.13771803 0.11361348 -0.01631199
+v -0.14121560 0.10653754 0.01628271
+v -0.14572523 0.10408847 0.02299634
+v -0.14542068 0.11361348 -0.01631199
+v -0.14722330 0.10495408 0.01628271
+v -0.14167087 0.11361347 -0.01478044
+v -0.14214767 0.11361347 -0.01491471
+f 1 2 5
+f 1 5 12
+f 1 12 21
+f 1 21 31
+f 1 31 39
+f 1 39 50
+f 1 50 47
+f 1 47 45
+f 1 45 44
+f 1 44 43
+f 1 43 35
+f 1 35 26
+f 1 26 23
+f 1 23 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
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+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 6
+f 5 6 12
+f 6 11 13
+f 6 13 12
+f 7 14 15
+f 7 15 8
+f 8 15 9
+f 9 16 17
+f 9 17 10
+f 9 15 16
+f 10 17 18
+f 10 18 19
+f 10 19 11
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+f 11 20 13
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+f 12 22 21
+f 13 20 19
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+f 15 26 24
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+f 21 22 32
+f 21 32 31
+f 22 30 32
+f 24 33 25
+f 24 26 33
+f 25 33 34
+f 25 34 27
+f 26 35 33
+f 27 34 36
+f 27 36 37
+f 27 37 28
+f 28 37 38
+f 28 38 29
+f 29 38 30
+f 30 38 32
+f 31 32 39
+f 32 38 40
+f 32 40 39
+f 33 41 42
+f 33 42 34
+f 33 35 43
+f 33 43 44
+f 33 44 45
+f 33 45 41
+f 34 42 36
+f 36 46 37
+f 36 42 41
+f 36 41 47
+f 36 47 48
+f 36 48 46
+f 37 46 38
+f 38 46 48
+f 38 48 49
+f 38 49 40
+f 39 40 51
+f 39 51 50
+f 40 49 51
+f 41 45 47
+f 47 50 53
+f 47 53 52
+f 47 52 48
+f 48 52 53
+f 48 53 50
+f 48 50 49
+f 49 50 51
+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_31.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba60e8c235610aae65f2bb975a21e577d6cab651
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_31.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.11944332 0.13393579 -0.01631192
+v -0.11722533 0.14079641 -0.01631189
+v -0.11860425 0.13053254 -0.01631193
+v -0.11503203 0.13393569 0.00956617
+v -0.11304849 0.14639824 -0.01631187
+v -0.11178680 0.13923278 0.01628163
+v -0.11249322 0.14015268 0.00956619
+v -0.11704333 0.12707803 -0.01631194
+v -0.11054053 0.12338703 0.01347114
+v -0.11185466 0.12729435 0.01593768
+v -0.11359142 0.13393567 0.01628161
+v -0.11263821 0.14659475 -0.01631187
+v -0.10851997 0.14358156 0.00956621
+v -0.10490149 0.14458971 0.01366352
+v -0.11055287 0.13778888 0.01991669
+v -0.10702692 0.14231138 0.01605237
+v -0.11641711 0.12580501 -0.01631195
+v -0.10677088 0.12274909 0.01460271
+v -0.10677088 0.12517834 0.01796044
+v -0.11073179 0.12972645 0.02004979
+v -0.11262895 0.12125974 -0.01631196
+v -0.11213230 0.12072720 -0.01631197
+v -0.10676780 0.11938012 -0.01631197
+v -0.11085826 0.13393566 0.02015703
+v -0.10676780 0.14839462 -0.01631186
+v -0.10677088 0.13856920 0.02043440
+v -0.10225162 0.14458971 0.01366352
+v -0.10677088 0.13393565 0.02146610
+v -0.09988557 0.12289433 0.01429208
+v -0.10656112 0.11937728 -0.01631197
+v -0.09988557 0.11930324 -0.01631197
+v -0.09988557 0.12544890 0.01764981
+v -0.09988557 0.12888061 0.02052311
+v -0.10677088 0.12860721 0.02066733
+v -0.10005215 0.14823229 -0.01631187
+v -0.10108248 0.13854926 0.02042331
+v -0.09937041 0.14107822 0.01663294
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+v -0.09863313 0.14305755 0.00956621
+v -0.09464138 0.14667449 -0.01631187
+v -0.09989174 0.14822376 -0.01631187
+v -0.09922542 0.13450523 0.02081527
+v -0.09636579 0.12358353 0.01305698
+v -0.09408303 0.12133379 -0.01631196
+v -0.09620230 0.13009099 0.01985749
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+v -0.09461053 0.13450525 0.01693244
+v -0.09265476 0.13393569 0.00956617
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+v -0.08977970 0.12707803 -0.01631194
+v -0.08792881 0.13393579 -0.01631192
+f 1 2 5
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+f 1 35 41
+f 1 41 40
+f 1 40 50
+f 1 50 49
+f 1 49 55
+f 1 55 54
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+f 15 24 28
+f 15 28 26
+f 15 26 16
+f 18 29 19
+f 18 23 30
+f 18 30 31
+f 18 31 29
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 19 29 32
+f 20 34 28
+f 20 28 24
+f 25 27 35
+f 26 28 36
+f 26 36 27
+f 27 36 37
+f 27 37 38
+f 27 38 39
+f 27 39 40
+f 27 40 41
+f 27 41 35
+f 28 42 36
+f 28 34 33
+f 28 33 42
+f 29 43 32
+f 29 31 43
+f 31 44 43
+f 32 45 33
+f 32 43 45
+f 33 45 42
+f 36 42 46
+f 36 46 37
+f 37 46 38
+f 38 46 47
+f 38 47 48
+f 38 48 49
+f 38 49 50
+f 38 50 40
+f 38 40 39
+f 42 45 51
+f 42 51 46
+f 43 52 45
+f 43 44 53
+f 43 53 54
+f 43 54 52
+f 45 52 47
+f 45 47 51
+f 46 51 47
+f 47 52 48
+f 48 55 49
+f 48 52 55
+f 52 54 55
+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_32.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e0bd1276dd78e2715a86454e28880538cc90808
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_32.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.16526597 -0.10596990 -0.01631279
+v -0.16985773 -0.10615007 0.00551304
+v -0.17071035 -0.10910370 0.00551303
+v -0.17125294 -0.11098073 0.00551302
+v -0.16865166 -0.11338999 -0.01631282
+v -0.16827960 -0.08421392 -0.01631271
+v -0.17016468 -0.10344058 0.00551305
+v -0.17530832 -0.11456671 0.00551301
+v -0.17432547 -0.11943731 -0.01631284
+v -0.16933995 -0.11427847 -0.01631282
+v -0.19128802 -0.08421392 -0.01631271
+v -0.16848733 -0.08421392 -0.01596661
+v -0.17199084 -0.09622461 0.00551308
+v -0.17094288 -0.09906217 0.00551307
+v -0.17833745 -0.11706809 0.00551300
+v -0.17475643 -0.11980951 -0.01631284
+v -0.19591698 -0.09909011 -0.01631276
+v -0.18997033 -0.09929430 0.00551307
+v -0.18846350 -0.09653278 0.00551308
+v -0.18736905 -0.09461172 0.00551308
+v -0.18781241 -0.08421393 -0.01241799
+v -0.16893380 -0.08421392 -0.01537268
+v -0.17259232 -0.09559626 0.00551308
+v -0.18294781 -0.11714413 0.00551300
+v -0.18254166 -0.12509643 -0.01623595
+v -0.18248275 -0.12509643 -0.01624023
+v -0.18209519 -0.12509643 -0.01627868
+v -0.18179755 -0.12509643 -0.01631286
+v -0.19694013 -0.10617001 -0.01631279
+v -0.19091286 -0.10615007 0.00551304
+v -0.18254166 -0.09277470 0.00551309
+v -0.18254166 -0.08421395 -0.00738241
+v -0.17007787 -0.08421393 -0.01385581
+v -0.17543543 -0.09419549 0.00551308
+v -0.17434098 -0.08421395 -0.00924325
+v -0.17565557 -0.08421395 -0.00807034
+v -0.19397300 -0.11732014 -0.01631283
+v -0.18320515 -0.12509643 -0.01631286
+v -0.18260366 -0.12509643 -0.01624236
+v -0.18698770 -0.11374625 0.00551301
+v -0.19585187 -0.11296575 -0.01631281
+v -0.19582706 -0.11304179 -0.01631282
+v -0.18831469 -0.11238951 0.00551302
+v -0.17853277 -0.08421395 -0.00754691
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 9
+f 1 9 16
+f 1 16 28
+f 1 28 38
+f 1 38 37
+f 1 37 42
+f 1 42 41
+f 1 41 29
+f 1 29 17
+f 1 17 11
+f 1 11 6
+f 1 6 7
+f 1 7 2
+f 2 7 14
+f 2 14 13
+f 2 13 23
+f 2 23 34
+f 2 34 31
+f 2 31 20
+f 2 20 19
+f 2 19 18
+f 2 18 30
+f 2 30 43
+f 2 43 40
+f 2 40 24
+f 2 24 15
+f 2 15 8
+f 2 8 4
+f 2 4 3
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 6 11 21
+f 6 21 32
+f 6 32 44
+f 6 44 36
+f 6 36 35
+f 6 35 33
+f 6 33 22
+f 6 22 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 8 15 16
+f 8 16 9
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 12 22 23
+f 12 23 13
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 17 29 18
+f 18 29 30
+f 20 31 32
+f 20 32 21
+f 22 33 23
+f 23 33 35
+f 23 35 36
+f 23 36 34
+f 24 37 38
+f 24 38 39
+f 24 39 25
+f 24 40 37
+f 25 39 38
+f 25 38 28
+f 25 28 27
+f 25 27 26
+f 29 41 30
+f 30 41 42
+f 30 42 43
+f 31 36 44
+f 31 44 32
+f 31 34 36
+f 37 40 43
+f 37 43 42
+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_33.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ad16103107f26daba172fc0c5f6f89a67198298
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_33.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.12118705 0.09316301 -0.01630841
+v -0.11922970 0.09833225 -0.01630839
+v -0.11905835 0.08836500 -0.01630843
+v -0.11120588 0.08822258 0.01475984
+v -0.11203957 0.09262772 0.01671373
+v -0.11177925 0.09949219 0.01626090
+v -0.11077092 0.10355397 0.01401123
+v -0.11340378 0.10616808 -0.01630836
+v -0.11756892 0.08571077 -0.01630844
+v -0.10713631 0.08688928 0.01671371
+v -0.10967691 0.09023953 0.01923731
+v -0.11670228 0.08420424 -0.01630844
+v -0.11276451 0.08002492 -0.01630846
+v -0.11241522 0.07976507 -0.01630846
+v -0.11060615 0.09480863 0.01997505
+v -0.11060615 0.09710709 0.01997506
+v -0.10677054 0.10201647 0.01876258
+v -0.10677054 0.10435826 0.01540632
+v -0.10677054 0.10919352 -0.01630835
+v -0.09988357 0.08468982 0.00956657
+v -0.09929373 0.08673770 0.01689631
+v -0.10508669 0.08853501 0.02028911
+v -0.10690565 0.07777595 -0.01630846
+v -0.10677054 0.07774811 -0.01630846
+v -0.10713631 0.09262770 0.02095015
+v -0.10677054 0.09858577 0.02078948
+v -0.09988357 0.09861671 0.02084426
+v -0.09988357 0.10204741 0.01862015
+v -0.09988357 0.10429639 0.01526389
+v -0.09988357 0.10922446 -0.01630835
+v -0.10530748 0.10922446 -0.01630835
+v -0.09988357 0.07762437 -0.01630846
+v -0.09660484 0.08960845 0.01954408
+v -0.10119506 0.08853501 0.02028911
+v -0.09385006 0.07997852 -0.01630846
+v -0.09523733 0.08796891 0.01506662
+v -0.09929373 0.09224719 0.02099397
+v -0.09597876 0.09715040 0.02005175
+v -0.09597546 0.10347354 0.01382132
+v -0.09897080 0.10878518 -0.01630835
+v -0.09443660 0.09224721 0.01689633
+v -0.09597876 0.09417755 0.02005174
+v -0.09347440 0.08023218 -0.01630846
+v -0.09272969 0.09277932 0.00956660
+v -0.08930268 0.08592113 -0.01630843
+v -0.09488146 0.09951694 0.01614769
+v -0.08968492 0.10141028 -0.01630838
+v -0.09364576 0.10577521 -0.01630836
+v -0.09391925 0.10601032 -0.01630836
+v -0.08752656 0.09277942 -0.01630841
+v -0.08800437 0.09621629 -0.01630840
+f 1 2 8
+f 1 8 19
+f 1 19 31
+f 1 31 30
+f 1 30 40
+f 1 40 49
+f 1 49 48
+f 1 48 47
+f 1 47 51
+f 1 51 50
+f 1 50 45
+f 1 45 43
+f 1 43 35
+f 1 35 32
+f 1 32 24
+f 1 24 23
+f 1 23 14
+f 1 14 13
+f 1 13 12
+f 1 12 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 12
+f 4 12 13
+f 4 13 14
+f 4 14 10
+f 5 11 15
+f 5 15 16
+f 5 16 6
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 10 14 23
+f 10 23 24
+f 10 24 20
+f 11 22 25
+f 11 25 15
+f 15 25 16
+f 16 25 26
+f 16 26 17
+f 17 26 27
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 20 24 32
+f 20 32 21
+f 21 33 34
+f 21 34 22
+f 21 32 35
+f 21 35 36
+f 21 36 33
+f 22 34 37
+f 22 37 25
+f 25 37 27
+f 25 27 26
+f 27 37 38
+f 27 38 28
+f 28 38 39
+f 28 39 29
+f 29 39 30
+f 30 39 40
+f 33 36 41
+f 33 41 42
+f 33 42 37
+f 33 37 34
+f 35 43 36
+f 36 44 41
+f 36 43 45
+f 36 45 44
+f 37 42 38
+f 38 41 46
+f 38 46 39
+f 38 42 41
+f 39 46 47
+f 39 47 48
+f 39 48 49
+f 39 49 40
+f 41 44 46
+f 44 50 46
+f 44 45 50
+f 46 50 51
+f 46 51 47
+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_34.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b9b8f81f03a879b36186f85b01e169ceb6736e7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_34.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.18254363 0.14572541 -0.00376868
+v -0.17812506 0.14495366 -0.00376869
+v -0.18698853 0.14501083 -0.00376869
+v -0.20089159 0.15854483 0.01244075
+v -0.19631872 0.15878304 0.01217623
+v -0.17971709 0.16496646 0.01931431
+v -0.17868584 0.16496646 0.01931431
+v -0.17806860 0.14493461 -0.00376869
+v -0.18923922 0.14079483 -0.00376870
+v -0.20678929 0.15155628 0.01279083
+v -0.20089159 0.15854483 0.01428458
+v -0.17971709 0.16496646 0.02000283
+v -0.17868584 0.16496646 0.02000283
+v -0.17037562 0.15938324 0.01779721
+v -0.17609267 0.16115541 0.01631514
+v -0.17518186 0.14085675 -0.00376870
+v -0.20744795 0.14079478 0.01222674
+v -0.20725223 0.14765469 0.01238625
+v -0.18877252 0.13393966 -0.00376873
+v -0.20678929 0.15155628 0.01346379
+v -0.18766977 0.15945945 0.02087804
+v -0.20319497 0.15410969 0.01530374
+v -0.18758320 0.13949416 0.03432550
+v -0.18222747 0.16159843 0.02183497
+v -0.17301398 0.15812556 0.02645232
+v -0.17066167 0.15915934 0.02299805
+v -0.17198272 0.15812556 0.02645232
+v -0.16900189 0.15451459 0.02299804
+v -0.16992022 0.15384292 0.01585222
+v -0.17514798 0.14079483 -0.00376870
+v -0.20705276 0.13580227 0.01257682
+v -0.20744795 0.14079476 0.01585606
+v -0.20725223 0.14765469 0.01460741
+v -0.18874617 0.13388726 -0.00376873
+v -0.18254363 0.13927503 0.03415823
+v -0.20211855 0.12707966 0.02176483
+v -0.18753803 0.13393952 0.03437215
+v -0.18235168 0.11630380 0.03597086
+v -0.18115106 0.11630380 0.03597086
+v -0.17893424 0.13778872 0.03326354
+v -0.17637118 0.11630380 0.03540293
+v -0.17252845 0.11630382 0.03097617
+v -0.16940459 0.14079476 0.01628006
+v -0.16931427 0.14765468 0.01628008
+v -0.17168915 0.11630382 0.02881337
+v -0.17027401 0.12707966 0.02299794
+v -0.16963042 0.13393959 0.01628003
+v -0.17497109 0.13403018 -0.00376873
+v -0.20705276 0.13580226 0.01512862
+v -0.18652560 0.13008096 -0.00376874
+v -0.20162927 0.12957117 0.01227338
+v -0.20099322 0.12213003 0.01856728
+v -0.20608548 0.13368712 0.01692965
+v -0.20099322 0.12213002 0.02150807
+v -0.18301409 0.11630380 0.03561299
+v -0.17145580 0.11630384 0.02363585
+v -0.17110955 0.11953849 0.02232884
+v -0.17129396 0.12136781 0.01821329
+v -0.17071059 0.12737502 0.01610108
+v -0.17497485 0.13393966 -0.00376873
+v -0.18254363 0.12924729 -0.00376875
+v -0.18319850 0.11630388 0.01391489
+v -0.18960429 0.11630387 0.01576650
+v -0.19217490 0.11630387 0.01688291
+v -0.19371424 0.11630386 0.01922077
+v -0.19375941 0.11632768 0.01925189
+v -0.19375941 0.11632767 0.02051223
+v -0.19372929 0.11630385 0.02053557
+v -0.18958172 0.11630383 0.02819875
+v -0.17203165 0.11630385 0.02095179
+v -0.17221607 0.11679453 0.01964866
+v -0.17255857 0.11630386 0.01908851
+v -0.17785784 0.12973320 -0.00376874
+v -0.17789548 0.12968080 -0.00376874
+v -0.18254363 0.11630388 0.01384487
+v -0.19372929 0.11630386 0.01928690
+v -0.17226877 0.11630386 0.01999876
+v -0.17494475 0.11630387 0.01568870
+v -0.17910362 0.11630388 0.01459952
+f 1 2 8
+f 1 8 16
+f 1 16 30
+f 1 30 48
+f 1 48 60
+f 1 60 73
+f 1 73 74
+f 1 74 61
+f 1 61 50
+f 1 50 34
+f 1 34 19
+f 1 19 9
+f 1 9 3
+f 1 3 4
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+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 3 10 4
+f 4 10 20
+f 4 20 11
+f 4 11 12
+f 4 12 6
+f 4 6 5
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+f 9 17 18
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+f 10 18 33
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+f 11 21 12
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+f 14 30 16
+f 17 31 49
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+f 17 32 33
+f 17 33 18
+f 17 19 31
+f 19 34 31
+f 20 33 23
+f 20 23 22
+f 21 23 24
+f 23 35 27
+f 23 27 25
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+f 43 47 48
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+f 47 59 60
+f 47 60 48
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+f 52 66 67
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+f 54 67 68
+f 54 68 69
+f 54 69 55
+f 56 70 58
+f 56 58 57
+f 58 70 71
+f 58 71 72
+f 58 72 60
+f 58 60 59
+f 60 72 73
+f 61 74 75
+f 61 75 62
+f 65 76 66
+f 66 76 68
+f 66 68 67
+f 70 77 71
+f 71 77 72
+f 72 78 74
+f 72 74 73
+f 74 78 79
+f 74 79 75
+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_35.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d52d02c244491e67a060a73a26311d8c84aa7d83
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_35.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.16941253 0.08796441 0.00957137
+v 0.16596964 0.08974892 0.00957138
+v 0.17020823 0.08833192 0.00438276
+v 0.17585797 0.08812637 0.00921251
+v 0.17454468 0.08801734 0.01628405
+v 0.16952326 0.08801734 0.01628405
+v 0.16303147 0.09318088 0.00957139
+v 0.16348983 0.09399998 0.00049872
+v 0.16828980 0.09043721 0.00049870
+v 0.16608037 0.08983298 0.01628406
+v 0.17572149 0.09042164 0.00049870
+v 0.17564939 0.08844092 0.00466984
+v 0.17927253 0.08915410 0.00598706
+v 0.17927253 0.08915410 0.00673432
+v 0.17382623 0.08840349 0.02157821
+v 0.17035759 0.08840349 0.02157821
+v 0.16003407 0.09963995 0.00957142
+v 0.16079371 0.09963999 0.00049874
+v 0.16255765 0.09593085 0.00049872
+v 0.16334047 0.09326183 0.01628407
+v 0.16834129 0.09055858 0.02348648
+v 0.16394820 0.09417430 0.02299677
+v 0.17897640 0.09181996 0.00049871
+v 0.18633857 0.10090438 0.00548892
+v 0.18128368 0.09247083 0.00921253
+v 0.18104162 0.09330860 0.00049871
+v 0.18082016 0.09406530 0.02299677
+v 0.17798757 0.09015998 0.01628406
+v 0.17593265 0.09047138 0.02348648
+v 0.17851804 0.09633871 0.03284626
+v 0.17599187 0.09411510 0.03024985
+v 0.17392666 0.09588090 0.03349642
+v 0.17157303 0.09588090 0.03349642
+v 0.16907005 0.09429885 0.02957436
+v 0.16012934 0.10649766 0.00957144
+v 0.16078857 0.10649770 0.00049876
+v 0.16077569 0.10204735 0.00049874
+v 0.16071389 0.09963993 0.01628410
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+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_36.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cd203082557e514418ac2f94374cf868ea88182
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_36.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.16690223 -0.14045172 -0.01631292
+v -0.17268914 -0.14048428 0.00551291
+v -0.16776930 -0.14650421 -0.01631294
+v -0.16868346 -0.13340378 -0.01631289
+v -0.17209910 -0.13682146 0.00025302
+v -0.17558676 -0.14737568 0.00551289
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+v -0.17401330 -0.13636955 0.00551293
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+v -0.17511029 -0.13350134 0.00551294
+v -0.18254269 -0.14981853 0.00551288
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+v -0.17020429 -0.15229675 -0.01631296
+v -0.17539008 -0.12665417 -0.01631287
+v -0.18254269 -0.13037614 0.00551295
+v -0.18863433 -0.15332470 -0.01631296
+v -0.18818834 -0.15351375 -0.01631296
+v -0.18254269 -0.15527426 -0.01631297
+v -0.18862879 -0.14689419 0.00551289
+v -0.18179752 -0.12510043 -0.01631286
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+v -0.19273698 -0.14915678 -0.01631295
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+v -0.19457084 -0.14413225 -0.01631293
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+v -0.18873682 -0.13353677 0.00551294
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+v -0.19318020 -0.13359578 -0.01631289
+v -0.18983937 -0.13769288 0.00551292
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+f 32 36 34
+f 32 34 37
+f 33 37 34
+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_37.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a98cb68a02d63dbadfae455118be56f27409e0f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_37.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.17152338 -0.16481867 0.02028005
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+v 0.17565142 -0.16103091 0.02307537
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+v 0.18191476 -0.16075375 0.02138359
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+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_38.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49b39e716f22941fc50177c551f88376435248ec
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_38.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.17607932 -0.11987572 0.03631719
+v 0.18061773 -0.11170929 0.04121788
+v 0.17564795 -0.11624693 0.03957570
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+v 0.18062548 -0.09437975 -0.01026220
+v 0.17581584 -0.08671971 0.00298871
+v 0.18409449 -0.10615229 -0.01026224
+v 0.18407641 -0.10583744 -0.01026224
+v 0.18349782 -0.09929715 -0.01026221
+v 0.18337899 -0.09907968 -0.01026221
+v 0.16504715 -0.09553860 0.01369370
+v 0.16158329 -0.09929723 0.00957280
+v 0.17021581 -0.08671971 0.00304552
+v 0.16370913 -0.09427913 -0.01026220
+v 0.16418958 -0.09459405 0.00957281
+v 0.16517630 -0.11057646 0.02702715
+v 0.15984490 -0.10574331 -0.01026224
+v 0.16009029 -0.10632106 -0.01026224
+v 0.16339400 -0.11298146 -0.01026227
+v 0.16787300 -0.11987555 -0.01026229
+v 0.16042609 -0.09978402 -0.01026222
+v 0.16034602 -0.10055976 -0.01026222
+v 0.18269966 -0.11987565 0.01747884
+v 0.17547230 -0.09096517 -0.01026218
+v 0.16880290 -0.09089052 -0.01026218
+v 0.18134356 -0.11220896 -0.01026226
+v 0.16860658 -0.09099762 -0.01026218
+v 0.17706862 -0.11987555 -0.01026229
+v 0.18122215 -0.11246862 -0.01026226
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 27
+f 1 27 43
+f 1 43 63
+f 1 63 71
+f 1 71 66
+f 1 66 45
+f 1 45 29
+f 1 29 28
+f 1 28 16
+f 1 16 15
+f 1 15 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 2 5 6
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 14
+f 5 15 6
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 8
+f 8 18 19
+f 8 19 9
+f 8 17 20
+f 8 20 21
+f 8 21 18
+f 9 19 10
+f 10 19 22
+f 10 22 23
+f 10 23 24
+f 10 24 12
+f 10 12 11
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 14
+f 12 14 13
+f 16 28 17
+f 17 28 29
+f 17 29 30
+f 17 30 20
+f 18 21 31
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 19 33 34
+f 19 34 22
+f 20 30 46
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+f 20 35 21
+f 21 35 31
+f 22 34 23
+f 23 36 37
+f 23 37 25
+f 23 25 24
+f 23 34 38
+f 23 38 36
+f 25 37 39
+f 25 39 40
+f 25 40 41
+f 25 41 42
+f 25 42 26
+f 26 42 27
+f 27 42 44
+f 27 44 43
+f 29 45 46
+f 29 46 30
+f 31 35 47
+f 31 47 32
+f 32 47 48
+f 32 48 49
+f 32 49 56
+f 32 56 38
+f 32 38 34
+f 32 34 33
+f 35 46 50
+f 35 50 51
+f 35 51 52
+f 35 52 53
+f 35 53 48
+f 35 48 47
+f 36 54 37
+f 36 38 54
+f 37 54 55
+f 37 55 39
+f 38 56 57
+f 38 57 58
+f 38 58 54
+f 39 41 40
+f 39 55 44
+f 39 44 41
+f 41 59 42
+f 41 44 59
+f 42 59 44
+f 43 44 60
+f 43 60 61
+f 43 61 62
+f 43 62 63
+f 44 55 64
+f 44 64 65
+f 44 65 60
+f 45 66 46
+f 46 66 50
+f 48 53 52
+f 48 52 51
+f 48 51 50
+f 48 50 69
+f 48 69 72
+f 48 72 71
+f 48 71 63
+f 48 63 62
+f 48 62 61
+f 48 61 60
+f 48 60 65
+f 48 65 64
+f 48 64 57
+f 48 57 70
+f 48 70 68
+f 48 68 67
+f 48 67 49
+f 49 67 68
+f 49 68 56
+f 50 66 69
+f 54 58 55
+f 55 58 64
+f 56 68 70
+f 56 70 57
+f 57 64 58
+f 66 71 72
+f 66 72 69
+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_39.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66e1f0cdf9755017c814f8deffc3dc69ea5f5079
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_39.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.11986191 -0.09922523 -0.01631277
+v -0.11949014 -0.09329951 -0.01631275
+v -0.11880428 -0.10389829 -0.01631279
+v -0.11354504 -0.09929159 0.00956638
+v -0.11181119 -0.09874574 0.01661940
+v -0.11910876 -0.09242232 -0.01631275
+v -0.11147147 -0.09306929 0.01603710
+v -0.11068627 -0.08857923 0.01363908
+v -0.11640382 -0.10754270 -0.01631281
+v -0.11125354 -0.10392364 0.01461198
+v -0.10944917 -0.10066420 0.01908976
+v -0.11026001 -0.09609527 0.01967572
+v -0.11026001 -0.09577973 0.01967572
+v -0.11420525 -0.08555946 -0.01631272
+v -0.10676667 -0.09100886 0.01822535
+v -0.10676667 -0.08783141 0.01486885
+v -0.10676987 -0.08172257 -0.01630909
+v -0.11384310 -0.08523446 -0.01631272
+v -0.11219898 -0.11154052 -0.01631282
+v -0.11159646 -0.11192862 -0.01631282
+v -0.10676667 -0.10739450 0.00956635
+v -0.10699742 -0.10528360 0.01661937
+v -0.10485654 -0.10350715 0.02022908
+v -0.10699742 -0.09874576 0.02051484
+v -0.10676667 -0.09443872 0.02029421
+v -0.09988574 -0.09410741 0.02044251
+v -0.09988574 -0.09067755 0.01825428
+v -0.09988574 -0.08781879 0.01489778
+v -0.10443991 -0.08180776 -0.01630909
+v -0.09604627 -0.08421528 -0.01631272
+v -0.11167017 -0.08421528 -0.01631272
+v -0.10676667 -0.11355363 -0.01631283
+v -0.09988574 -0.10784571 0.00956634
+v -0.10627632 -0.11360095 -0.01631283
+v -0.09941462 -0.10547608 0.01683277
+v -0.10139525 -0.10350715 0.02022908
+v -0.09941462 -0.09951882 0.02063780
+v -0.09613921 -0.09533483 0.01987465
+v -0.09593730 -0.08856345 0.01367887
+v -0.09988574 -0.08209174 -0.01630909
+v -0.09836662 -0.08248616 -0.01630909
+v -0.09319390 -0.08583713 -0.01631273
+v -0.09515530 -0.10424548 0.01495559
+v -0.09988574 -0.11395435 -0.01631283
+v -0.09385731 -0.11207061 -0.01631282
+v -0.09680262 -0.10195788 0.01943698
+v -0.09613921 -0.09739211 0.01987464
+v -0.09445022 -0.09951880 0.01683279
+v -0.09492134 -0.09280424 0.01606241
+v -0.09356246 -0.09243820 0.00956640
+v -0.08907560 -0.09021989 -0.01631274
+v -0.09342786 -0.11175508 -0.01631282
+v -0.08907239 -0.10614804 -0.01631280
+v -0.09244395 -0.09929159 0.00956638
+v -0.08759173 -0.09530315 -0.01631276
+v -0.08835449 -0.09243810 -0.01631275
+v -0.08712381 -0.09929149 -0.01631277
+f 1 2 6
+f 1 6 14
+f 1 14 18
+f 1 18 31
+f 1 31 30
+f 1 30 42
+f 1 42 51
+f 1 51 56
+f 1 56 55
+f 1 55 57
+f 1 57 53
+f 1 53 52
+f 1 52 45
+f 1 45 44
+f 1 44 34
+f 1 34 32
+f 1 32 20
+f 1 20 19
+f 1 19 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 3 10 4
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 7
+f 6 8 14
+f 7 13 8
+f 8 13 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 14
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 11 23 24
+f 11 24 12
+f 12 24 13
+f 13 24 25
+f 13 25 15
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 17
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 17 28 29
+f 20 32 21
+f 21 33 22
+f 21 32 34
+f 21 34 33
+f 22 35 23
+f 22 33 35
+f 23 36 37
+f 23 37 24
+f 23 35 36
+f 24 37 26
+f 24 26 25
+f 26 37 38
+f 26 38 27
+f 27 38 39
+f 27 39 28
+f 28 39 40
+f 28 40 29
+f 29 40 30
+f 30 40 41
+f 30 41 42
+f 33 43 35
+f 33 34 44
+f 33 44 45
+f 33 45 43
+f 35 46 36
+f 35 43 46
+f 36 46 37
+f 37 46 47
+f 37 47 38
+f 38 48 49
+f 38 49 39
+f 38 47 48
+f 39 49 50
+f 39 50 51
+f 39 51 42
+f 39 42 41
+f 39 41 40
+f 43 45 52
+f 43 52 53
+f 43 53 54
+f 43 54 48
+f 43 48 46
+f 46 48 47
+f 48 54 49
+f 49 54 50
+f 50 54 55
+f 50 55 56
+f 50 56 51
+f 53 57 54
+f 54 57 55
+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_4.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef75286c648c16e3c8247e3e99982e7b8a43704f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_4.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.20123122 0.07024230 -0.01960577
+v 0.18829603 0.06534568 -0.01026677
+v 0.20121561 0.06534571 -0.01960579
+v 0.19860051 0.14079184 -0.01960551
+v 0.18511943 0.01689522 -0.01026695
+v 0.19863690 0.01733014 -0.01960597
+v 0.19851733 0.14298243 -0.01960550
+v 0.18504663 0.13459055 -0.01026652
+v 0.18170366 0.01125770 -0.01026697
+v 0.19611017 -0.00406023 -0.01960604
+v 0.19627654 0.15446686 -0.01960546
+v 0.18429797 0.14101731 -0.01026649
+v 0.17639025 0.00800404 -0.01026698
+v 0.17621868 0.00792350 -0.01026698
+v 0.19550708 -0.00406023 -0.01951005
+v 0.15963898 -0.00406023 -0.01960604
+v 0.18771893 0.15966948 -0.01960544
+v 0.18104338 0.14570451 -0.01026647
+v 0.18411601 0.14130725 -0.01026649
+v 0.16862810 0.00811679 -0.01026698
+v 0.17564679 -0.00406024 -0.01765432
+v 0.16186416 -0.00406023 -0.01914439
+v 0.16838375 0.00813290 -0.01026698
+v 0.16286758 0.01153152 -0.01026697
+v 0.15017155 0.00566853 -0.01960601
+v 0.18164647 0.16049096 -0.01960544
+v 0.17566758 0.14783066 -0.01026647
+v 0.16876327 -0.00406023 -0.01783349
+v 0.17453419 -0.00406024 -0.01768266
+v 0.15972737 0.01658918 -0.01026695
+v 0.15962858 0.01681468 -0.01026695
+v 0.14904336 0.01128994 -0.01960599
+v 0.17564679 0.16047485 -0.01960544
+v 0.16876327 0.16031377 -0.01960544
+v 0.16877368 0.14710585 -0.01026647
+v 0.15608284 0.06534568 -0.01026677
+v 0.14812313 0.05853236 -0.01639255
+v 0.14812313 0.05848403 -0.01639622
+v 0.14859105 0.01729793 -0.01960597
+v 0.16187457 0.15870305 -0.01960545
+v 0.16845653 0.14696087 -0.01026647
+v 0.16047083 0.13393014 -0.01026652
+v 0.14812313 0.13393016 -0.01752766
+v 0.14812313 0.05165459 -0.01774645
+v 0.14812313 0.05162238 -0.01775376
+v 0.14812313 0.04463185 -0.01960587
+v 0.14812313 0.14940919 -0.01960548
+v 0.16452086 0.14497969 -0.01026648
+v 0.16206693 0.14077572 -0.01026649
+v 0.14812313 0.13396238 -0.01753041
+f 1 2 3
+f 1 3 6
+f 1 6 10
+f 1 10 16
+f 1 16 25
+f 1 25 32
+f 1 32 39
+f 1 39 46
+f 1 46 47
+f 1 47 40
+f 1 40 34
+f 1 34 33
+f 1 33 26
+f 1 26 17
+f 1 17 11
+f 1 11 7
+f 1 7 4
+f 1 4 2
+f 2 5 6
+f 2 6 3
+f 2 4 7
+f 2 7 8
+f 2 8 12
+f 2 12 19
+f 2 19 18
+f 2 18 27
+f 2 27 35
+f 2 35 41
+f 2 41 48
+f 2 48 49
+f 2 49 42
+f 2 42 36
+f 2 36 31
+f 2 31 30
+f 2 30 24
+f 2 24 23
+f 2 23 20
+f 2 20 14
+f 2 14 13
+f 2 13 9
+f 2 9 5
+f 5 9 10
+f 5 10 6
+f 7 11 12
+f 7 12 8
+f 9 13 10
+f 10 13 14
+f 10 14 15
+f 10 15 21
+f 10 21 29
+f 10 29 28
+f 10 28 22
+f 10 22 16
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 14 20 21
+f 14 21 15
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 17 26 27
+f 17 27 18
+f 20 23 28
+f 20 28 29
+f 20 29 21
+f 22 28 23
+f 24 30 25
+f 25 30 31
+f 25 31 32
+f 26 33 27
+f 27 33 34
+f 27 34 35
+f 31 36 37
+f 31 37 38
+f 31 38 32
+f 32 38 39
+f 34 40 35
+f 35 40 41
+f 36 42 43
+f 36 43 37
+f 37 43 50
+f 37 50 47
+f 37 47 46
+f 37 46 45
+f 37 45 44
+f 37 44 38
+f 38 44 39
+f 39 44 45
+f 39 45 46
+f 40 47 48
+f 40 48 41
+f 42 49 47
+f 42 47 50
+f 42 50 43
+f 47 49 48
+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_40.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f892a8edbe790a8139eaf61a5e1149762ed66b2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_40.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.10676916 -0.15462240 -0.01631298
+v -0.11195256 -0.15320600 -0.01631297
+v -0.09988553 -0.15444759 -0.01631298
+v -0.09982599 -0.14574952 0.01653157
+v -0.10703048 -0.14583158 0.01672174
+v -0.11247188 -0.15293486 -0.01631297
+v -0.11125460 -0.14487541 0.01477616
+v -0.09450366 -0.15266727 -0.01631297
+v -0.09557540 -0.14473627 0.01445799
+v -0.09749065 -0.14277759 0.01893431
+v -0.10208525 -0.14438665 0.02007532
+v -0.09386194 -0.15243894 -0.01631297
+v -0.10490684 -0.14438665 0.02007532
+v -0.10950144 -0.14322712 0.01925247
+v -0.11620644 -0.14968463 -0.01631296
+v -0.11231311 -0.14074396 0.01672176
+v -0.11919012 -0.14596704 -0.01631295
+v -0.11889241 -0.14668772 -0.01631295
+v -0.09471867 -0.14047638 0.01653159
+v -0.08987929 -0.14731207 -0.01631295
+v -0.08711393 -0.14048340 -0.01631293
+v -0.09599219 -0.13820373 0.02003877
+v -0.09982599 -0.14047640 0.02089452
+v -0.10703048 -0.14074398 0.02094206
+v -0.11080473 -0.13865327 0.02011557
+v -0.11239911 -0.13294128 0.01693756
+v -0.12076797 -0.14045128 -0.01631293
+v -0.09462936 -0.13324812 0.01679127
+v -0.08697831 -0.13996250 -0.01631292
+v -0.09599219 -0.13530671 0.02003878
+v -0.09942904 -0.13324814 0.02100061
+v -0.10743403 -0.13294130 0.02104815
+v -0.11080473 -0.13479295 0.02011558
+v -0.11016963 -0.13021909 0.01961457
+v -0.11140345 -0.12891329 0.01513828
+v -0.12010639 -0.13352271 -0.01631290
+v -0.09542655 -0.12908097 0.01489691
+v -0.09682908 -0.13073285 0.01937320
+v -0.08697831 -0.13982693 -0.01631292
+v -0.08702131 -0.13392586 -0.01631290
+v -0.10142037 -0.12939139 0.02025091
+v -0.10557833 -0.12939139 0.02025091
+v -0.10743403 -0.12773593 0.01693758
+v -0.10665007 -0.12037553 -0.01631285
+v -0.11399018 -0.12485307 -0.01631287
+v -0.11564742 -0.12648354 -0.01631287
+v -0.12001047 -0.13333718 -0.01631290
+v -0.09942904 -0.12783583 0.01679129
+v -0.08834776 -0.12963029 -0.01631289
+v -0.09152991 -0.12524909 -0.01631287
+v -0.09989214 -0.11817423 -0.01631284
+f 1 2 6
+f 1 6 15
+f 1 15 18
+f 1 18 17
+f 1 17 27
+f 1 27 36
+f 1 36 47
+f 1 47 46
+f 1 46 45
+f 1 45 44
+f 1 44 51
+f 1 51 50
+f 1 50 49
+f 1 49 40
+f 1 40 39
+f 1 39 29
+f 1 29 21
+f 1 21 20
+f 1 20 12
+f 1 12 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 4 8 12
+f 4 12 9
+f 5 11 13
+f 5 13 14
+f 5 14 7
+f 6 7 15
+f 7 14 16
+f 7 16 17
+f 7 17 18
+f 7 18 15
+f 9 19 10
+f 9 12 20
+f 9 20 21
+f 9 21 19
+f 10 22 23
+f 10 23 11
+f 10 19 22
+f 11 23 24
+f 11 24 13
+f 13 24 14
+f 14 24 25
+f 14 25 16
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 19 28 22
+f 19 21 29
+f 19 29 28
+f 22 30 31
+f 22 31 23
+f 22 28 30
+f 23 31 24
+f 24 31 32
+f 24 32 25
+f 25 32 33
+f 25 33 26
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 26 36 27
+f 28 37 38
+f 28 38 30
+f 28 29 39
+f 28 39 40
+f 28 40 37
+f 30 38 31
+f 31 41 32
+f 31 38 41
+f 32 41 42
+f 32 42 34
+f 32 34 33
+f 34 43 35
+f 34 42 43
+f 35 43 44
+f 35 44 45
+f 35 45 46
+f 35 46 47
+f 35 47 36
+f 37 48 38
+f 37 40 49
+f 37 49 50
+f 37 50 51
+f 37 51 48
+f 38 48 41
+f 41 48 43
+f 41 43 42
+f 43 48 51
+f 43 51 44
+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_41.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe7b502e0affcdef9f8649b246022bc8311b0040
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_41.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.14167217 0.11362031 -0.01478334
+v -0.14214957 0.11362031 -0.01491683
+v -0.13771843 0.11362032 -0.01631198
+v -0.14057051 0.12195563 0.01693922
+v -0.14529541 0.12330499 0.02085340
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diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_42.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57ebad24adbe47dc662756c1917cf940b9199896
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_42.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_43.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d75579ce38631266cb4bc61c30154dccacd8131
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_43.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_44.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..588b38ba8522ca1cb24e6d388ff2f3f1281b83df
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_44.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.18254154 0.00743830 -0.00282256
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+v -0.18201113 0.03375730 0.02780759
+v -0.18666401 0.03122871 0.02780758
+v -0.18228420 0.03391137 0.02339118
+v -0.18873051 0.03028852 0.00956926
+v -0.18390168 0.03276935 -0.00282247
+v -0.18279623 0.03336963 -0.00282247
+v -0.17976346 0.03455686 0.00592942
+v -0.17981597 0.03457275 0.01901675
+v -0.17981597 0.03457274 0.02141534
+f 1 2 7
+f 1 7 15
+f 1 15 27
+f 1 27 37
+f 1 37 46
+f 1 46 53
+f 1 53 65
+f 1 65 66
+f 1 66 57
+f 1 57 48
+f 1 48 56
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+f 3 10 4
+f 4 10 21
+f 4 21 20
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+f 4 32 40
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+f 14 24 15
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+f 18 32 19
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+f 24 34 27
+f 25 30 38
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+f 25 35 36
+f 25 36 26
+f 27 34 37
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+f 32 41 40
+f 33 36 42
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+f 33 43 34
+f 34 43 37
+f 35 38 44
+f 35 44 45
+f 35 45 36
+f 36 45 42
+f 37 43 46
+f 40 41 47
+f 40 47 48
+f 40 48 49
+f 40 49 50
+f 41 51 47
+f 42 45 52
+f 42 52 53
+f 42 53 43
+f 43 53 46
+f 44 54 45
+f 45 54 55
+f 45 55 52
+f 47 51 56
+f 47 56 48
+f 48 57 58
+f 48 58 49
+f 49 59 60
+f 49 60 50
+f 49 58 59
+f 50 60 61
+f 52 55 62
+f 52 62 63
+f 52 63 64
+f 52 64 53
+f 53 64 65
+f 57 66 58
+f 58 66 67
+f 58 67 68
+f 58 68 59
+f 59 68 69
+f 59 69 60
+f 60 69 61
+f 61 69 63
+f 61 63 62
+f 63 69 68
+f 63 68 67
+f 63 67 66
+f 63 66 64
+f 64 66 65
+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_45.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b3b45d0e3e536983443374886f4f7df67af3d33
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_45.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.18314949 0.07750584 0.00690234
+v -0.18314949 0.07750584 0.03969476
+v -0.18314949 0.07850584 0.00690234
+v -0.18314949 0.07850584 0.03969476
+v -0.17339372 0.07750584 0.00690234
+v -0.17339372 0.07750584 0.03969476
+v -0.17339372 0.07850584 0.00690234
+v -0.17339372 0.07850584 0.03969476
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_46.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c700b697aaab9e2aeed71e0f474eee0d1550fa7f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_46.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.14121438 -0.11172411 0.00956909
+v -0.13648827 -0.11051814 0.01487146
+v -0.14126345 -0.11095440 0.01677762
+v -0.14645569 -0.11059581 0.01628177
+v -0.14703336 -0.11088130 0.00956909
+v -0.14570184 -0.11010471 0.00498933
+v -0.14205967 -0.10879819 -0.00282718
+v -0.14121438 -0.10886673 -0.00282718
+v -0.13660425 -0.11042449 0.00956909
+v -0.13068490 -0.10321149 0.01206831
+v -0.13068490 -0.10321150 0.01346118
+v -0.13413079 -0.10625614 0.01640388
+v -0.13899964 -0.10930305 0.01934659
+v -0.14358970 -0.10972332 0.01978762
+v -0.14493236 -0.10972332 0.01978762
+v -0.14989936 -0.10784354 0.01628178
+v -0.15047702 -0.10838941 0.00956910
+v -0.14853884 -0.10662379 -0.00282717
+v -0.13568311 -0.10622181 -0.00282717
+v -0.13749639 -0.10977123 0.00582406
+v -0.13293309 -0.10576048 0.00972858
+v -0.13536864 -0.10502040 -0.00282717
+v -0.13431368 -0.09929431 -0.00282714
+v -0.13072727 -0.09929436 0.01224773
+v -0.13072727 -0.09929437 0.01334907
+v -0.13245580 -0.09929438 0.01670541
+v -0.13636560 -0.10472814 0.02065974
+v -0.14126345 -0.10666956 0.02105342
+v -0.14757756 -0.10556181 0.02049029
+v -0.15161672 -0.10288034 0.01971787
+v -0.15240850 -0.10441291 0.01628180
+v -0.15265161 -0.10495879 0.00956911
+v -0.15051939 -0.09977396 -0.00282715
+v -0.15194013 -0.10360660 0.00531826
+v -0.13464601 -0.09852231 -0.00282714
+v -0.13087002 -0.09584775 0.01287815
+v -0.13087002 -0.09584775 0.01295290
+v -0.13668231 -0.09475829 0.02040312
+v -0.13589945 -0.09929440 0.02097870
+v -0.14121438 -0.09929440 0.02262572
+v -0.14858345 -0.09960046 0.02100610
+v -0.15161672 -0.10208777 0.01971788
+v -0.15279211 -0.09960044 0.01674776
+v -0.15347014 -0.09929436 0.00956914
+v -0.15054392 -0.09929431 -0.00282714
+v -0.13646596 -0.09462116 -0.00282713
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+v -0.13767482 -0.08892254 0.01307252
+v -0.13488241 -0.09301555 0.01525027
+v -0.14121438 -0.09399314 0.02096874
+v -0.14121438 -0.09056250 0.01713401
+v -0.14660960 -0.09447736 0.02064980
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+v -0.15247095 -0.09447505 0.01482168
+v -0.15236166 -0.09463035 0.00956915
+v -0.14814407 -0.09402731 -0.00282713
+v -0.15170817 -0.09560790 0.00587643
+v -0.13723766 -0.09427856 -0.00282713
+v -0.14121438 -0.08848172 0.01155008
+v -0.14121438 -0.09266146 -0.00282712
+v -0.14121438 -0.08848173 0.01377518
+v -0.14568400 -0.08839036 0.01390975
+v -0.14844294 -0.09218873 0.01660327
+v -0.14568400 -0.08839035 0.01132833
+v -0.14802809 -0.09091192 0.00928512
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 12
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+f 4 17 5
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+f 38 49 48
+f 38 48 51
+f 38 51 50
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+f 41 52 53
+f 41 53 42
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+f 43 54 44
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+f 45 57 56
+f 46 58 47
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+f 47 61 48
+f 47 58 60
+f 47 60 59
+f 48 61 51
+f 50 51 52
+f 51 61 62
+f 51 62 52
+f 52 62 63
+f 52 63 53
+f 53 63 54
+f 54 63 62
+f 54 62 64
+f 54 64 55
+f 55 65 56
+f 55 56 57
+f 55 64 65
+f 56 65 64
+f 56 64 60
+f 59 64 62
+f 59 62 61
+f 59 60 64
+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_47.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b889de965b7ae703f65a6e3c716d2a097c339a0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_47.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.12630794 -0.14045018 -0.01631292
+v -0.13356151 -0.14045023 -0.00282730
+v -0.12777009 -0.14740348 -0.01631294
+v -0.12635837 -0.14015346 -0.01631291
+v -0.13547069 -0.14527643 -0.00282731
+v -0.12765581 -0.13325378 -0.01631289
+v -0.13385393 -0.13933127 -0.00282729
+v -0.13584043 -0.14610225 -0.00282732
+v -0.12805915 -0.14780745 -0.01631294
+v -0.13579000 -0.13328958 -0.00282727
+v -0.12957843 -0.12895310 -0.01631287
+v -0.14023020 -0.14876917 -0.00282733
+v -0.13402535 -0.15414943 -0.01631297
+v -0.13399846 -0.15412799 -0.01631297
+v -0.13989409 -0.11992989 -0.01631284
+v -0.14066381 -0.13057976 -0.00282726
+v -0.14125202 -0.14934832 -0.00282733
+v -0.14121504 -0.15644457 -0.01631297
+v -0.14397798 -0.11992989 -0.01631284
+v -0.13993105 -0.11992989 -0.01629832
+v -0.14121504 -0.11992989 -0.01580858
+v -0.14121504 -0.13044748 -0.00282726
+v -0.14507375 -0.15092128 -0.00663963
+v -0.14187721 -0.15641238 -0.01631297
+v -0.14835095 -0.14743570 -0.00282732
+v -0.14394773 -0.11992989 -0.01630624
+v -0.14809887 -0.12277557 -0.01631285
+v -0.14821315 -0.13185245 -0.00282726
+v -0.14129236 -0.11992989 -0.01581651
+v -0.14828710 -0.15553295 -0.01631297
+v -0.15184665 -0.14417176 -0.00282731
+v -0.15385667 -0.15303047 -0.01631296
+v -0.15343315 -0.15339512 -0.01631296
+v -0.15401800 -0.12770544 -0.01631287
+v -0.15232394 -0.13565620 -0.00282728
+v -0.15256259 -0.14090425 -0.00282730
+v -0.16064301 -0.14045018 -0.01631292
+v -0.15959766 -0.14326725 -0.01631293
+v -0.15735236 -0.14813635 -0.01631294
+v -0.15821284 -0.13356838 -0.01631289
+v -0.15948674 -0.13691097 -0.01631290
+v -0.15237772 -0.13657855 -0.00282728
+f 1 2 3
+f 1 3 9
+f 1 9 14
+f 1 14 13
+f 1 13 18
+f 1 18 24
+f 1 24 30
+f 1 30 33
+f 1 33 32
+f 1 32 39
+f 1 39 38
+f 1 38 37
+f 1 37 41
+f 1 41 40
+f 1 40 34
+f 1 34 27
+f 1 27 19
+f 1 19 15
+f 1 15 11
+f 1 11 6
+f 1 6 4
+f 1 4 2
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+f 2 4 6
+f 2 6 7
+f 2 7 10
+f 2 10 16
+f 2 16 22
+f 2 22 28
+f 2 28 35
+f 2 35 42
+f 2 42 36
+f 2 36 31
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+f 2 25 17
+f 2 17 12
+f 2 12 8
+f 2 8 5
+f 3 8 9
+f 3 5 8
+f 6 10 7
+f 6 11 10
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 10 11 15
+f 10 15 16
+f 12 17 13
+f 13 17 18
+f 15 19 26
+f 15 26 29
+f 15 29 21
+f 15 21 20
+f 15 20 16
+f 16 20 21
+f 16 21 22
+f 17 23 24
+f 17 24 18
+f 17 25 23
+f 19 22 26
+f 19 27 28
+f 19 28 22
+f 21 29 22
+f 22 29 26
+f 23 30 24
+f 23 25 30
+f 25 31 32
+f 25 32 33
+f 25 33 30
+f 27 34 28
+f 28 34 35
+f 31 36 37
+f 31 37 38
+f 31 38 39
+f 31 39 32
+f 34 40 35
+f 35 40 41
+f 35 41 37
+f 35 37 42
+f 36 42 37
+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_48.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ef389def02bf71e939662e69d4a1d5c5fb03fd7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_48.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.15855429 -0.14397443 0.01279866
+v -0.14583253 -0.15116684 0.01072176
+v -0.15855429 -0.14397443 0.01312533
+v -0.15853521 -0.14045166 0.01281366
+v -0.15256278 -0.14090470 -0.00282430
+v -0.15184858 -0.14417354 -0.00282431
+v -0.14835126 -0.14743489 -0.00282432
+v -0.14811684 -0.14970046 0.00891762
+v -0.14255056 -0.15116684 0.01072176
+v -0.14583253 -0.15116685 0.01399441
+v -0.14125303 -0.14934939 -0.00282433
+v -0.15853521 -0.14045166 0.01309837
+v -0.14811684 -0.14886647 0.01625110
+v -0.15456903 -0.14520679 0.01572966
+v -0.15199033 -0.14417860 0.01983844
+v -0.15257368 -0.14045168 0.02036291
+v -0.15601921 -0.14045167 0.01645492
+v -0.15845070 -0.13700358 0.01290059
+v -0.15237741 -0.13657780 -0.00282428
+v -0.14255056 -0.15116685 0.01399441
+v -0.14063970 -0.15026809 0.00891762
+v -0.14121487 -0.14576199 0.02144778
+v -0.14810048 -0.14531884 0.02084541
+v -0.14022809 -0.14877181 -0.00282433
+v -0.15845070 -0.13700358 0.01295453
+v -0.14566081 -0.13827333 0.02718393
+v -0.15247009 -0.13568661 0.02040189
+v -0.15215389 -0.12960701 0.01138416
+v -0.15232290 -0.13565417 -0.00282428
+v -0.13552320 -0.14622752 0.01628108
+v -0.14063970 -0.14947394 0.01625110
+v -0.13503799 -0.14672542 0.00957096
+v -0.13583941 -0.14610297 -0.00282432
+v -0.13689705 -0.14476864 0.02064462
+v -0.13693794 -0.13813889 0.02707304
+v -0.14121487 -0.14222429 0.02480436
+v -0.15215389 -0.12960702 0.01413834
+v -0.14487030 -0.12997303 0.02653063
+v -0.15090542 -0.13111324 0.01861575
+v -0.14121487 -0.13879613 0.02751659
+v -0.14121487 -0.13359539 0.02778633
+v -0.14557085 -0.13359539 0.02710902
+v -0.14840578 -0.12804854 0.01633809
+v -0.14850391 -0.12829498 0.00931630
+v -0.14821497 -0.13185256 -0.00282426
+v -0.13070654 -0.13826830 0.01342804
+v -0.13228211 -0.14051142 0.01591248
+v -0.13166606 -0.14051140 0.00971184
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+v -0.13581215 -0.14043426 0.02292828
+v -0.13507071 -0.13359537 0.02299425
+v -0.13700063 -0.13359539 0.02703111
+v -0.14605879 -0.12901950 0.02299427
+v -0.14121487 -0.12987345 0.02662353
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+v -0.13757580 -0.12996805 0.02653662
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+v -0.13245384 -0.13393889 0.00971187
+v -0.13579033 -0.13328905 -0.00282427
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+f 1 7 8
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+f 51 56 52
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+f 54 56 55
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+f 55 64 57
+f 56 62 64
+f 57 64 65
+f 57 65 66
+f 57 66 58
+f 58 66 67
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+f 65 72 66
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+f 66 73 67
+f 67 73 68
+f 69 71 73
+f 69 73 72
+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_49.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3fb73c1a8e0129addcce9538ffbd6d36e6b054c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_49.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.12789249 -0.09885054 -0.01631276
+v -0.12917042 -0.09429910 -0.01631275
+v -0.13431459 -0.09929455 -0.00282714
+v -0.12795411 -0.10636287 -0.01631279
+v -0.13300421 -0.08421740 -0.01631271
+v -0.13464542 -0.09852199 -0.00282714
+v -0.13536871 -0.10502056 -0.00282717
+v -0.13568333 -0.10621960 -0.00282717
+v -0.12808385 -0.10664953 -0.01631279
+v -0.15265647 -0.08421740 -0.01631271
+v -0.13379562 -0.08421740 -0.01540584
+v -0.13646825 -0.09462076 -0.00282713
+v -0.14121346 -0.10886587 -0.00282718
+v -0.13709749 -0.11009636 -0.00636227
+v -0.13391563 -0.11467573 -0.01631282
+v -0.13260203 -0.11319005 -0.01631282
+v -0.16030136 -0.09891346 -0.01631276
+v -0.15192993 -0.09538281 -0.00652987
+v -0.14814479 -0.09402648 -0.00282713
+v -0.14738257 -0.08421742 -0.01169122
+v -0.13661096 -0.08421741 -0.01277366
+v -0.13723696 -0.09428167 -0.00282713
+v -0.14001338 -0.08421742 -0.01121072
+v -0.14121346 -0.11992632 -0.01580858
+v -0.13992904 -0.11992632 -0.01629832
+v -0.13989337 -0.11992632 -0.01631284
+v -0.14206002 -0.10879595 -0.00282718
+v -0.16088843 -0.10031525 -0.01631277
+v -0.15054496 -0.09929455 -0.00282714
+v -0.14121346 -0.09265965 -0.00282712
+v -0.14558892 -0.08421742 -0.01133745
+v -0.14121346 -0.08421742 -0.01072890
+v -0.14129131 -0.11992632 -0.01581651
+v -0.14398016 -0.11992632 -0.01631284
+v -0.14853725 -0.10662511 -0.00282717
+v -0.14612734 -0.11024667 -0.00585801
+v -0.14395097 -0.11992632 -0.01630624
+v -0.16102790 -0.10530717 -0.01631279
+v -0.15051902 -0.09977346 -0.00282715
+v -0.14809937 -0.11801415 -0.01631283
+v -0.15219913 -0.10415711 -0.00605996
+v -0.16100520 -0.10550991 -0.01631279
+v -0.15847203 -0.10857218 -0.01631280
+v -0.15446309 -0.11254682 -0.01631281
+f 1 2 3
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+f 1 9 16
+f 1 16 15
+f 1 15 26
+f 1 26 34
+f 1 34 40
+f 1 40 44
+f 1 44 43
+f 1 43 42
+f 1 42 38
+f 1 38 28
+f 1 28 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 12
+f 3 12 22
+f 3 22 30
+f 3 30 19
+f 3 19 29
+f 3 29 39
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+f 3 35 27
+f 3 27 13
+f 3 13 8
+f 3 8 7
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 5 10 20
+f 5 20 31
+f 5 31 32
+f 5 32 23
+f 5 23 21
+f 5 21 11
+f 5 11 12
+f 5 12 6
+f 8 13 14
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+f 8 16 9
+f 10 17 18
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+f 10 19 20
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+f 13 24 25
+f 13 25 26
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+f 14 26 15
+f 17 28 18
+f 18 28 29
+f 18 29 19
+f 19 30 31
+f 19 31 20
+f 22 23 32
+f 22 32 30
+f 24 33 37
+f 24 37 34
+f 24 34 26
+f 24 26 25
+f 24 27 33
+f 27 35 36
+f 27 36 34
+f 27 34 37
+f 27 37 33
+f 28 38 29
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+f 30 32 31
+f 34 36 35
+f 34 35 40
+f 35 39 41
+f 35 41 42
+f 35 42 43
+f 35 43 44
+f 35 44 40
+f 38 42 39
+f 39 42 41
+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_5.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..059edc04f4849b7f27d10768650371e9c1f2ff55
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_5.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.12692109 -0.14985191 -0.01026756
+v 0.12126568 -0.14655803 -0.01026755
+v 0.13407747 -0.14890464 -0.01026756
+v 0.13431890 -0.14732596 0.00956601
+v 0.12743356 -0.14813927 0.00956601
+v 0.12217902 -0.14559411 0.00956602
+v 0.11796764 -0.14123568 -0.01026753
+v 0.13438268 -0.14870371 -0.01026756
+v 0.13848246 -0.14468992 0.01419619
+v 0.13427108 -0.14578789 0.01637418
+v 0.12705319 -0.14604383 0.01681283
+v 0.12273021 -0.14511570 0.01492727
+v 0.11942761 -0.14045116 0.00956603
+v 0.11789248 -0.14108736 -0.01026753
+v 0.13901998 -0.14540267 -0.01026754
+v 0.14032509 -0.14045116 0.00956603
+v 0.13910198 -0.14007324 0.01637421
+v 0.13792671 -0.13753525 0.01979505
+v 0.13653507 -0.14210650 0.01867406
+v 0.13194104 -0.14442681 0.02010879
+v 0.14115871 -0.14043912 -0.01026753
+v 0.12909625 -0.14442681 0.02010879
+v 0.12450450 -0.14340539 0.01940208
+v 0.12170526 -0.14085065 0.01681285
+v 0.12174854 -0.13338022 0.01668799
+v 0.11973054 -0.13359310 0.00956606
+v 0.11840950 -0.13374611 -0.01026750
+v 0.14035468 -0.13359310 0.00956606
+v 0.13905415 -0.13397106 0.01634072
+v 0.13792671 -0.13650906 0.01979506
+v 0.13427108 -0.14007326 0.02065102
+v 0.12705319 -0.14085067 0.02085206
+v 0.14114048 -0.14013293 -0.01026752
+v 0.12338390 -0.13883176 0.02012708
+v 0.12338390 -0.13552592 0.02012709
+v 0.12510353 -0.13095228 0.01919804
+v 0.12280310 -0.12894053 0.01472019
+v 0.12248195 -0.12862717 0.00956608
+v 0.11842773 -0.13353322 -0.01026750
+v 0.13858268 -0.12919170 0.00956608
+v 0.13840274 -0.12940938 0.01414141
+v 0.14067585 -0.13361454 -0.01026750
+v 0.13626630 -0.13193782 0.01861622
+v 0.13167455 -0.12980170 0.01993216
+v 0.13410936 -0.13397108 0.02054443
+v 0.12741307 -0.13338024 0.02074547
+v 0.12741307 -0.12793828 0.01668801
+v 0.12969300 -0.12980170 0.01993216
+v 0.12743356 -0.12575429 0.00956609
+v 0.12192847 -0.12830895 -0.01026748
+v 0.13431890 -0.12631644 0.00956609
+v 0.14053919 -0.13329162 -0.01026750
+v 0.13853030 -0.12936863 -0.01026749
+v 0.13410936 -0.12821814 0.01634074
+v 0.12785492 -0.12541694 -0.01026747
+v 0.12736296 -0.12558676 -0.01026747
+v 0.13380871 -0.12629482 -0.01026747
+v 0.13301153 -0.12616326 -0.01026747
+f 1 2 7
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+f 1 14 27
+f 1 27 39
+f 1 39 50
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+f 1 55 58
+f 1 58 57
+f 1 57 53
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+f 1 52 42
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+f 1 15 8
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+f 1 5 6
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+f 49 54 51
+f 49 51 55
+f 49 55 56
+f 49 56 50
+f 51 53 57
+f 51 57 58
+f 51 58 55
+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_50.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eee8632797b131300765db9dddb94631dbf86187
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_50.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.15339727 0.01732239 0.00956822
+v -0.15219296 0.01301530 0.00956821
+v -0.15217275 0.01303728 0.01409145
+v -0.15279288 0.01732237 0.01520465
+v -0.15239743 0.02417987 0.01446255
+v -0.15256818 0.02430300 0.00997455
+v -0.15211657 0.02210001 0.00460114
+v -0.15123805 0.01732244 -0.00282253
+v -0.15177954 0.01357817 0.00573544
+v -0.14810147 0.01013072 0.00956820
+v -0.14807450 0.01191604 -0.00282255
+v -0.14802507 0.01171810 0.01631078
+v -0.14567937 0.01326591 0.02006841
+v -0.15024944 0.01732236 0.01856068
+v -0.15164473 0.02771964 0.01310278
+v -0.14851713 0.02485043 0.01817555
+v -0.15164473 0.02771964 0.01248277
+v -0.15023821 0.02417993 -0.00282250
+v -0.15088979 0.01631987 -0.00282253
+v -0.14121489 0.00866864 0.00956819
+v -0.14121489 0.01020985 0.01628260
+v -0.14693311 0.01171817 -0.00282255
+v -0.14121489 0.01320655 0.02011069
+v -0.14121489 0.01732235 0.02116988
+v -0.14680503 0.01732235 0.02055457
+v -0.14649947 0.02301017 0.02043011
+v -0.14836210 0.02915315 0.00997457
+v -0.14810147 0.02883214 0.01472561
+v -0.14121489 0.02723373 0.01942732
+v -0.14714880 0.02850680 -0.00282249
+v -0.14796216 0.02760757 -0.00282249
+v -0.13512370 0.01155322 0.00956820
+v -0.13598873 0.01228754 0.01628261
+v -0.14121489 0.01073099 -0.00282255
+v -0.14050039 0.01101681 -0.00282255
+v -0.13653246 0.01271194 -0.00282254
+v -0.13745367 0.01360230 0.01983826
+v -0.14121489 0.02380387 0.02069786
+v -0.13675490 0.01732236 0.02025161
+v -0.13673243 0.02256386 0.02025867
+v -0.14121489 0.03112971 0.00956827
+v -0.14121489 0.02973357 0.01607131
+v -0.13592582 0.02892009 0.01489470
+v -0.14170470 0.02897291 -0.00282248
+v -0.13158491 0.01705417 0.00914079
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+v -0.13296897 0.01705414 0.01610179
+v -0.13614826 0.01340231 -0.00282254
+v -0.13044576 0.02211537 0.01374390
+v -0.13403397 0.02462618 0.01655743
+v -0.13548319 0.02928067 0.00956827
+v -0.13849171 0.02768452 -0.00282249
+v -0.13044576 0.01916044 0.01109007
+v -0.13406094 0.01732244 -0.00282253
+v -0.13044576 0.02211538 0.01109008
+v -0.13187251 0.02431400 0.00914082
+v -0.13508101 0.02456689 -0.00282250
+v -0.13421597 0.01849210 -0.00282252
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
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+f 1 9 2
+f 2 10 3
+f 2 9 11
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+f 3 10 12
+f 3 12 13
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+f 29 38 40
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+f 30 41 44
+f 32 36 45
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+f 33 47 37
+f 33 46 47
+f 36 48 45
+f 37 47 39
+f 39 47 46
+f 39 46 40
+f 40 49 50
+f 40 50 43
+f 40 46 49
+f 41 42 43
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+f 41 51 44
+f 43 50 49
+f 43 49 51
+f 44 51 52
+f 45 53 46
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+f 46 55 49
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+f 49 56 51
+f 51 56 57
+f 51 57 52
+f 53 54 55
+f 54 58 55
+f 55 58 57
+f 55 57 56
+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_6.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..984bcf4edd3cfd6c6a4d24ed8445eb6bd9879dfb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_6.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.12743147 -0.06223613 -0.01026724
+v 0.12332826 -0.06102775 0.00506668
+v 0.12743147 -0.05952763 0.00956786
+v 0.12876527 -0.06231426 -0.01026724
+v 0.12234645 -0.06512701 -0.01026725
+v 0.12303986 -0.06080899 0.00956786
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+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_7.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a66504a46b4a9cbbc089a133e136e325232eb32
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_7.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_8.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a330e6dd59249549b7cbd548814dfdf6e627b600
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_8.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_9.obj b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8a72c954df909d53a1339cb137c19c3913927aa
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/af5ccbcad0045e1c9bf4898b2977c1b0/mjcf/mesh/chessboard_collision_9.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.14823914 -0.15339997 -0.01960659
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