diff --git a/.gitattributes b/.gitattributes
index a0269b2cde8947894370e2e580f45aaaa8bc0ab0..91011cc64cf7a5159ef4c1b73f2c82ab113bbc04 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2956,3 +2956,5 @@ dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/chess
 dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/chess_pawn_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mesh/vase_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/vase_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mesh/vase_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/vase_007.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mesh/material.mtl b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e4c6cdbe53e6fbab81894ae3fbdbc95545dc0923
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl vase_007_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd vase_007_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mesh/material_0.png b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c30572b6eb8b248df027738d09932de742dcebae
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ecaa898323671baa4766a272e04f28d00ca9c977cae7ac8c0f892a6d6d1eaa4
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mesh/vase_007.glb b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mesh/vase_007.glb
new file mode 100644
index 0000000000000000000000000000000000000000..704a5f02dc4c809a3772959bb060eee8a75a942e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mesh/vase_007.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36294d705623e8c5e92839b4e2eb6c533b6d141f9085f016513e6948a5470b09
+size 10998084
diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mesh/vase_007.mtl b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mesh/vase_007.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ceee284c1e41434df9146e7abd7f2ffaec4c316d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mesh/vase_007.mtl
@@ -0,0 +1,6 @@
+newmtl vase_007_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mesh/vase_007.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mesh/vase_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..420e4ff8cf5858da5aeb8c8182f0272ddd719a5e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mesh/vase_007.obj
@@ -0,0 +1,111596 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl vase_007_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mesh/vase_007_collision.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mesh/vase_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c0f6b4ab0dc1151537070604107c0bb3fa599ea
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mesh/vase_007_collision.obj
@@ -0,0 +1,26921 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007.obj
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..498124c86cb72b4e3833ad68c9bc1223f4d180e8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision.obj
@@ -0,0 +1,26921 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_0.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ceb26d827389f231f407914e71eb8d76e3233184
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_1.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67cde3c0b4155f414d5e1e302754f5f2a388a02b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_1.obj
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_10.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdcebac20b4e768e7b33b6bf8db83b90ef453057
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_10.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_11.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b434bb7a92ad57022235d9682ce1260638324260
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_11.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_12.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daf888b31793a7302dd3de094427daa7935c0e64
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_12.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_13.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0543ff6c7fcffb02472eb1fe12d95d2852302e4f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_13.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_14.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dffd8ead2a9976ef846850f4e67a3f38ba5cbe55
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_14.obj
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_15.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..735a4ef342c31066154f854f8363f61ce85bbeca
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_15.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_16.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7910b8d69b0f6228eea334453a796774d8fb2562
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_16.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_17.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..965336432e2605a206a727825aabbf3b8a5449d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_17.obj
@@ -0,0 +1,643 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_18.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98cdf6e7deeb105c60d6b46e5989a44d86256f33
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_18.obj
@@ -0,0 +1,175 @@
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_19.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..566a1758dd3310e305892fa0cb62e56f2e068821
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_19.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_2.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4a553c3ea312f8987db0fb6342b750ae234a267
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_2.obj
@@ -0,0 +1,964 @@
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_20.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9b21728a12e93f2f4e0628f0332c94ac177b772
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_20.obj
@@ -0,0 +1,541 @@
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_21.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75f02865a2f0ea894a368d8947e330c0dcdbddbd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_21.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_22.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac8d6752e763544b735af08efc3bfedbb9c33318
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_22.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_23.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..338c1adcf0b31850b5b95e5ca658a5066ade54f2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_23.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_24.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f324d468819b63587ade9bd15f8e4cbdb54870a4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_24.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_25.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bf9c93195edac65fcd6ba3a0bad9a76f7063eb2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_25.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_26.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5074813efe7d5135acbec07e81c31000b61ee11a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_26.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_27.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0d27db029a108e2411119c1ceaa8d9f138f7a76
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_27.obj
@@ -0,0 +1,904 @@
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_28.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc120daa540214af4b535a6de51c6feabad32800
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_28.obj
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_29.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a00a0d3d1fd530fe0962b176122d8afa0b98743a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_29.obj
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_3.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..641ec9c6679032c3b340bb1821dc59654ab30eef
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_3.obj
@@ -0,0 +1,499 @@
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_30.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f84cb1dd3995b36b38d927df9b23972013de00a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_30.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_31.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..464c9b72dbb6a8c4ace04dc3b66bd228e2587c89
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_31.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_32.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b002a1f6d254dd04786e289a0685ef7ac9232eb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_32.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_33.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ade97eb449b145842c905703bdcf4146b74fa4bd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_33.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_34.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd454eb7f9268730520856cc54fccf5ea7ff1667
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_34.obj
@@ -0,0 +1,658 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_35.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ee6233566771840072e3d02ae8c24065fc8f2af
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_35.obj
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_36.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95bfe3923dab08bd6b1f9d01b8e9334683c276b5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_36.obj
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_37.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3c0b551ef1db62722a0663cd1df67a49584b09c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_37.obj
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_38.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b5e2ed93847a0351008bbcaf0c845afba656af6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_38.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_39.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94949ec8c2491e096081e90a57a23be59ffe4a7f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_39.obj
@@ -0,0 +1,481 @@
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_4.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..072da856ee4003e6291b1979eb64979960c5d792
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_4.obj
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_40.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..647f6fb1ba7938de62361afb821354bfe76ecf79
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_40.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_41.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0375adcc93864f78c8c15e12913d0742080a5d28
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_41.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+v -0.01551749 0.00419160 0.03805392
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+v -0.01393352 0.00571527 0.02793932
+v -0.01506945 0.00559584 0.03805392
+v -0.01508487 0.00555242 0.03805392
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+f 1 4 8
+f 1 8 10
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+f 41 46 47
+f 41 47 48
+f 41 48 42
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+f 44 49 50
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+f 45 52 46
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+f 55 59 60
+f 55 60 56
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+f 58 61 62
+f 59 63 60
+f 60 63 62
+f 60 62 61
+
diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_42.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4529b11414dcc9721960d6b63fa952be0cbea6f2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_42.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.00001064 -0.01642128 0.03851465
+v -0.00001064 -0.01154154 0.03851467
+v -0.00083760 -0.01641510 0.03851465
+v -0.00083760 -0.01555890 0.02663556
+v -0.00001064 -0.01555993 0.02663556
+v -0.00850048 -0.00772172 0.03851468
+v -0.00001064 -0.01146025 0.03827743
+v -0.00850048 -0.00672045 0.03639355
+v -0.00850048 -0.00728747 0.03772274
+v -0.00850048 -0.00743462 0.03804951
+v -0.00209757 -0.01630191 0.03851465
+v -0.00230701 -0.01540454 0.02663556
+v -0.00001064 -0.01092407 0.02663558
+v -0.00850048 -0.01401846 0.03851466
+v -0.00001064 -0.01132133 0.03786577
+v -0.00850048 -0.00627076 0.03494456
+v -0.00261203 -0.01621650 0.03851465
+v -0.00247407 -0.01538602 0.02663556
+v -0.00001064 -0.01081808 0.02728216
+v -0.00850048 -0.00669675 0.02663560
+v -0.00850048 -0.00617709 0.02819971
+v -0.00766853 -0.01451343 0.03851466
+v -0.00850048 -0.01300892 0.02663557
+v -0.00823951 -0.01319003 0.02663557
+v -0.00001064 -0.01112478 0.03712616
+v -0.00850048 -0.00616991 0.03447940
+v -0.00001064 -0.01093028 0.03639353
+v -0.00412549 -0.01593763 0.03851465
+v -0.00405817 -0.01504746 0.02663556
+v -0.00001064 -0.01068225 0.02811480
+v -0.00850048 -0.00598878 0.02977080
+v -0.00696624 -0.01488491 0.03851466
+v -0.00750314 -0.01362635 0.02663557
+v -0.00743416 -0.01366442 0.02663557
+v -0.00850048 -0.00597644 0.03308159
+v -0.00001064 -0.01065964 0.03473755
+v -0.00577359 -0.01545397 0.03851465
+v -0.00483194 -0.01480975 0.02663557
+v -0.00001064 -0.01053408 0.02977078
+v -0.00850048 -0.00590852 0.03142677
+v -0.00668449 -0.01501972 0.03851465
+v -0.00580933 -0.01446091 0.02663557
+v -0.00850048 -0.00595277 0.03252456
+v -0.00001064 -0.01058965 0.03390491
+v -0.00001064 -0.01052174 0.03308157
+v -0.00001064 -0.01048160 0.03142675
+v -0.00001064 -0.01050013 0.03225009
+f 1 2 6
+f 1 6 14
+f 1 14 22
+f 1 22 32
+f 1 32 41
+f 1 41 37
+f 1 37 28
+f 1 28 17
+f 1 17 11
+f 1 11 3
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+f 1 4 5
+f 1 5 13
+f 1 13 19
+f 1 19 30
+f 1 30 39
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+f 1 25 15
+f 1 15 7
+f 1 7 2
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+f 2 10 6
+f 3 11 4
+f 4 12 18
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+f 4 38 42
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+f 4 34 33
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+f 4 20 13
+f 4 13 5
+f 4 11 12
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+f 6 20 23
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+f 7 15 8
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+f 11 17 18
+f 11 18 12
+f 13 20 21
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+f 15 25 16
+f 16 25 27
+f 16 27 26
+f 17 28 18
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+f 19 21 30
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+f 22 24 33
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+f 30 31 39
+f 31 40 39
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+f 35 45 43
+f 37 41 42
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+f 40 43 45
+f 40 45 47
+f 40 47 46
+
diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_43.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20a00381d2b4f4cf2e154443c05b43387ba34312
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_43.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.00001064 -0.01585776 0.02594591
+v -0.00001064 -0.01108242 0.02594593
+v 0.00080681 -0.01585925 0.02594591
+v 0.00080681 -0.01595141 0.03745943
+v -0.00001064 -0.01594918 0.03745943
+v -0.00001064 -0.01095167 0.02645876
+v 0.00715494 -0.00836268 0.02594594
+v 0.00175632 -0.01587192 0.03745943
+v 0.00245096 -0.01570175 0.02594591
+v -0.00001064 -0.01121321 0.03745945
+v -0.00001064 -0.01068200 0.02811563
+v 0.00696609 -0.00836268 0.02645877
+v 0.01341062 -0.00836268 0.02594594
+v 0.00241662 -0.01580505 0.03745943
+v 0.00406209 -0.01538899 0.02594591
+v -0.00001064 -0.01112406 0.03712695
+v 0.00735039 -0.00836272 0.03745946
+v -0.00001064 -0.01060846 0.02893843
+v 0.00660821 -0.00836268 0.02777976
+v 0.01348061 -0.00836272 0.03745833
+v 0.01331950 -0.00851869 0.02594594
+v 0.00350744 -0.01558070 0.03745943
+v 0.00407001 -0.01546109 0.03745943
+v 0.00530213 -0.01498040 0.02594591
+v 0.00510272 -0.01514313 0.03745943
+v -0.00001064 -0.01093016 0.03639432
+v 0.01294973 -0.00836272 0.03745946
+v 0.00691855 -0.00836271 0.03639433
+v -0.00001064 -0.01065900 0.03473746
+v -0.00001064 -0.01053417 0.02977137
+v 0.00638767 -0.00836269 0.02870963
+v 0.01347929 -0.00836346 0.03745946
+v 0.01308311 -0.00899047 0.03745946
+v 0.01276617 -0.00932399 0.02594594
+v 0.00612883 -0.01465575 0.02594592
+v 0.00570228 -0.01493735 0.03745944
+v 0.00635861 -0.00836271 0.03463152
+v -0.00001064 -0.01052155 0.03308172
+v -0.00001064 -0.01050817 0.03059416
+v 0.00624240 -0.00836269 0.02977138
+v 0.01200947 -0.01041311 0.03745945
+v 0.01194872 -0.01039227 0.02594593
+v 0.00742038 -0.01403692 0.02594592
+v 0.00678913 -0.01441435 0.03745944
+v 0.00624636 -0.00836270 0.03308173
+v -0.00001064 -0.01050001 0.03224878
+v -0.00001064 -0.01048218 0.03142711
+v 0.00619090 -0.00836269 0.03087821
+v 0.01169252 -0.01075039 0.03745945
+v 0.01117220 -0.01120871 0.02594593
+v 0.00849403 -0.01338837 0.02594592
+v 0.00834084 -0.01355705 0.03745944
+v 0.00740585 -0.01410457 0.03745944
+v 0.00616581 -0.00836270 0.03142712
+v 0.01071660 -0.01175404 0.03745945
+v 0.01036136 -0.01202664 0.02594593
+v 0.00929695 -0.01284606 0.02594592
+v 0.00894963 -0.01316926 0.03745944
+v 0.01038645 -0.01207943 0.03745945
+f 1 2 7
+f 1 7 13
+f 1 13 21
+f 1 21 34
+f 1 34 42
+f 1 42 50
+f 1 50 56
+f 1 56 57
+f 1 57 51
+f 1 51 43
+f 1 43 35
+f 1 35 24
+f 1 24 15
+f 1 15 9
+f 1 9 3
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+f 1 26 29
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+f 1 38 46
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+f 1 30 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
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+f 49 55 50
+f 50 55 56
+f 51 57 58
+f 51 58 52
+f 55 59 56
+f 56 59 57
+f 57 59 58
+
diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_44.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee0e7ca806d68026af78cdb6d30d6f69596e07af
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_44.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.00957159 0.01208166 0.03641712
+v 0.01007321 0.01169956 0.03641712
+v 0.00957159 0.01144564 0.02883427
+v 0.00957159 0.00491784 0.03641710
+v 0.01009094 0.01168532 0.03641712
+v 0.00970314 0.01134240 0.02883427
+v 0.00957159 0.00412280 0.02883425
+v 0.00957159 0.00490479 0.03639409
+v 0.01050047 -0.00004118 0.03473810
+v 0.01076301 -0.00004118 0.03639407
+v 0.01076930 -0.00004118 0.03641708
+v 0.01091229 0.01086890 0.03641712
+v 0.01053365 0.01051886 0.02883427
+v 0.01044385 -0.00004116 0.02883423
+v 0.01043412 -0.00004116 0.02893814
+v 0.01035919 -0.00004116 0.02977095
+v 0.00957159 0.00388191 0.02983628
+v 0.00957159 0.00427230 0.03473812
+v 0.01036320 -0.00004117 0.03308214
+v 0.01541143 -0.00004118 0.03641708
+v 0.01168217 0.01004774 0.03641712
+v 0.01134127 0.00964548 0.02883427
+v 0.01491096 -0.00004116 0.02883423
+v 0.01030886 -0.00004117 0.03142692
+v 0.00957159 0.00380003 0.03111073
+v 0.00957159 0.00390564 0.03303761
+v 0.01033574 -0.00004117 0.03225008
+v 0.01541429 0.00078710 0.03641708
+v 0.01162497 0.00928949 0.02883426
+v 0.01255157 0.00892042 0.03641711
+v 0.01192983 0.00890620 0.02883426
+v 0.01491267 0.00078594 0.02883423
+v 0.00957159 0.00389614 0.03297452
+v 0.00957159 0.00379172 0.03142693
+v 0.01482459 0.00190970 0.02883424
+v 0.01526158 0.00241044 0.03641709
+v 0.01255557 0.00891449 0.03641711
+v 0.01284442 0.00755104 0.02883426
+v 0.01476453 0.00235232 0.02883424
+v 0.01525929 0.00242943 0.03641709
+v 0.01351477 0.00740269 0.03641711
+v 0.01311267 0.00706452 0.02883426
+v 0.01469189 0.00274866 0.02883424
+v 0.01493155 0.00391275 0.03641709
+v 0.01352049 0.00739201 0.03641711
+v 0.01326367 0.00678328 0.02883425
+v 0.01437673 0.00402787 0.02883424
+v 0.01489151 0.00402904 0.03641709
+v 0.01430981 0.00567136 0.03641710
+v 0.01373155 0.00577462 0.02883425
+v 0.01340266 0.00648662 0.02883425
+v 0.01402154 0.00500211 0.02883425
+v 0.01433326 0.00561915 0.03641710
+f 1 2 3
+f 1 3 7
+f 1 7 17
+f 1 17 25
+f 1 25 34
+f 1 34 33
+f 1 33 26
+f 1 26 18
+f 1 18 8
+f 1 8 4
+f 1 4 11
+f 1 11 20
+f 1 20 28
+f 1 28 36
+f 1 36 40
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+f 1 48 53
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+f 1 12 5
+f 1 5 2
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+f 3 14 7
+f 4 8 9
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+f 5 13 6
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+f 9 24 16
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+f 9 20 11
+f 9 11 10
+f 12 21 13
+f 13 21 22
+f 16 24 17
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+f 18 26 19
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+f 28 32 35
+f 28 35 36
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+f 35 39 40
+f 35 40 36
+f 37 41 38
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+f 39 43 40
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+f 43 47 44
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+f 45 49 50
+f 45 50 51
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+f 47 52 53
+f 47 53 48
+f 49 53 50
+f 50 53 52
+
diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_45.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5003bc6de5af2b4d82b442f8604e89be78167f7f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_45.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
+v -0.02009995 0.01100654 -0.02700878
+v -0.02286257 0.00000084 -0.02700882
+v -0.02548076 0.01100654 -0.02700878
+v -0.02479329 0.01100648 -0.00970911
+v -0.02706485 0.00000078 -0.00970915
+v -0.02769918 0.00000084 -0.02700882
+v -0.02565408 0.01061656 -0.02700878
+v -0.02612318 0.01100653 -0.02527644
+v -0.02999386 0.01100648 -0.00970911
+v -0.03189684 0.00000078 -0.00970915
+v -0.02770034 0.00054488 -0.02700882
+v -0.02841901 0.00000083 -0.02487515
+v -0.02804927 0.00078619 -0.02597755
+v -0.02615091 0.01100653 -0.02520024
+v -0.02614051 0.00932488 -0.02700879
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_46.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1d13a414fbb3554e6e292efb72dade67a1ee749
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_46.obj
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_47.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed6c79ab062ec47f9a33b9c922d98230bbcbe3d4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_47.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_48.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e6b1e57c38e32e99ce02c3bb784f0790c1d1bfe
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_48.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_49.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf074e56d9241173372435de79f74eb5b80421b2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_49.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_5.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1593d210f6a5932b5c72de9e9a3d3894caadda27
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_5.obj
@@ -0,0 +1,10 @@
+# https://github.com/mikedh/trimesh
+v 0.01382396 0.01341762 -0.03583947
+v 0.01382396 0.01341766 -0.04660522
+v 0.00427239 0.01341766 -0.04660522
+v 0.01382396 0.00252866 -0.04660526
+f 1 2 3
+f 1 3 4
+f 1 4 2
+f 2 4 3
+
diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_50.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e04157ef6544410d91cdf0be3ac45b78a3adbed0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_50.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_51.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7215c15b385591e0beb14a5adf68cc6087e0e17
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_51.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_52.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cec9020f75a71773b5f10ab7055db1493a38442c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_52.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_53.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46259dfa7465d08ceb221ca815bd6bb2f466be77
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_53.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_54.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fe0c34aa86c41010f7ed2d7619fe52f62a6880b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_54.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_55.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4246e393740c6b2c37c7cc9068c11f2d9767d0f4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_55.obj
@@ -0,0 +1,526 @@
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_56.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50047a61eb3fba99f7b547dde6a00f59d51d9696
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_56.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_57.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2aa0fdd68e1caa5fed2e54627ed15df01f342c8f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_57.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_58.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fc55f2cde6f8d0281924f07470dce4ed5d067bc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_58.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_59.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a877f96f8fd17ee1002a340c07e4e345af8d6ba0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_59.obj
@@ -0,0 +1,226 @@
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_6.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7353b129025e1b80c6e7d5ce8d2807475f986d48
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_6.obj
@@ -0,0 +1,562 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_60.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fc124923f86232f3e3d46176968389d23793001
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_60.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_61.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..136840f6357673e099649bc7dacdb491e3890bd5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_61.obj
@@ -0,0 +1,193 @@
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+
diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_62.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3de601891a4c7991914c9ce59dfdc70216a61263
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_62.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.01621202 0.00078601 0.02514973
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+
diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_63.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5645936e5694c35f32094d6b3dc24a64f21ae6dd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_63.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.01621202 0.00846858 0.02269779
+v 0.01621202 0.00892352 0.02257393
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+
diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_64.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2591611c5ecf8862275008d8bdd2cca88dc7048
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_64.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v 0.01621202 0.00078719 0.02515090
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_65.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a7fda48fb57af896a77c43120643220dca38355
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_65.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_66.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..094b084dfe9c50671a9ebda79016a0720165c84d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_66.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_67.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95e6972cb8092d1b3e251eb291e785589d2d9067
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_67.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_68.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..231d45fc35a5f7ba5462fd7f6bb758cd07f3fa4f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_68.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_69.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07dcf80ae48c29a49522da21067a0a9139fc012c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_69.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_7.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f33d4ea7cbd10b9052a0e227785d80791267bfb3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_7.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_70.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c856259444c09b32183d6bbde04e49f3bc42971
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_70.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_71.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20b0709ed3d9668bbd9836e91adbee2ca0b596da
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_71.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.01029685 -0.02343463 0.00729883
+v -0.00000963 -0.02546349 0.00729883
+v 0.01029685 -0.02917484 0.00729881
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_72.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8647aa5644d52e70fe7b8ebe58934f963ad4d1a3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_72.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_73.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b27a728ef6e41807f67d22f27c79e513c9a810e3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_73.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_74.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b57d67e16f323a320bc98d73c25acac4e063b80
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_74.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_8.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e8b3703c9235c2008387d7fd18ad87d4a999953
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_8.obj
@@ -0,0 +1,475 @@
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_9.obj b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98bd00c3d5dd3351cfe70a7003761a479ed02004
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/mesh/vase_007_collision_9.obj
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/vase_007.xml b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/vase_007.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0b2eb2e10504da137ef210059f426fa1e66ee098
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/mjcf/vase_007.xml
@@ -0,0 +1,164 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="vase_007">
+  <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/vase_007.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/vase_007_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/vase_007_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/vase_007_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/vase_007_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/vase_007_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/vase_007_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/vase_007_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/vase_007_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/vase_007_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/vase_007_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/vase_007_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/vase_007_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_74" file="mesh/vase_007_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="vase_007">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/textures/material_0.png b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/vase_007.urdf b/dataset/desktop_supplies/decorations/dd4f155e005e543bbc8d6ded1e33ea58/vase_007.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="vase_007">
+   <link name="vase_007">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/vase_007.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/vase_007_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="2.0000" />
+         <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>1.000000</scale>
+         <uuid>dd4f155e005e543bbc8d6ded1e33ea58</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>decorations</super_category>
+         <category>vase</category>
+         <name>mosaic vase</name>
+         <color>beige</color>
+         <shape>ellipsoid</shape>
+         <material>ceramic</material>
+         <description>decorative vase with mosaic pattern and narrow neck</description>
+         <min_height>0.1006</min_height>
+         <max_height>0.1006</max_height>
+         <real_height>0.1006</real_height>
+         <min_mass>1.5</min_mass>
+         <max_mass>2.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420201349</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>11</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
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