diff --git a/.gitattributes b/.gitattributes
index 27184aab0716bf67f9c7c994c7c19d2bbefa331b..89ba71241ff3eb24b01063a9c89d79e46083c4d2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2942,3 +2942,6 @@ dataset/desktop_supplies/decorations/b562361aec0d5b3eac978016a5c16b1c/vase_001.u
 dataset/desktop_supplies/decorations/d80343181be75d479bb0db2cc96bc963/d80343181be75d479bb0db2cc96bc963.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/d80343181be75d479bb0db2cc96bc963/mesh/glasses.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/d80343181be75d479bb0db2cc96bc963/mesh/glasses_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/d96b65cd9cca5c9482eed4c2ce31d92d.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mesh/chessboard.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mesh/chessboard_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/d96b65cd9cca5c9482eed4c2ce31d92d.urdf b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/d96b65cd9cca5c9482eed4c2ce31d92d.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..456b5d8383731013cb2e0a72d80f96834c2707fc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/d96b65cd9cca5c9482eed4c2ce31d92d.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>0.441545</scale>
+         <version>v0.1.7</version>
+         <category>chessboard</category>
+         <description>golden chess pieces on a black rectangular base</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>20260119220204</generate_time>
+         <gs_model>mesh/chessboard_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.493851661682129</ImageAestheticChecker>
+         <overall>NO</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/d96b65cd9cca5c9482eed4c2ce31d92d/d96b65cd9cca5c9482eed4c2ce31d92d.usd b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/d96b65cd9cca5c9482eed4c2ce31d92d.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9438362cfefb097732031d4c72bd157f1be0af97
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/d96b65cd9cca5c9482eed4c2ce31d92d.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:919e5ff9fabb45ffc273850e2e3521ecbb21418d76d862b58df6aab2c21f0255
+size 708788
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mesh/chessboard.glb b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mesh/chessboard.glb
new file mode 100644
index 0000000000000000000000000000000000000000..43d850e972157d47ef52e39bddf33100e2601096
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mesh/chessboard.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bebb93f23a20ea3a537b14d44ba311d962eeb2e68bd39cdef42921c779e34671
+size 3018628
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mesh/chessboard.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mesh/chessboard.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14e4689d904c70100083b489f63b49af3174988a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mesh/chessboard.obj
@@ -0,0 +1,48038 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mesh/chessboard_collision.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mesh/chessboard_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ef01039aeff1116cc82135d1cf9bf06e514e372
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mesh/chessboard_collision.obj
@@ -0,0 +1,7839 @@
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diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mesh/chessboard_gs.ply b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mesh/chessboard_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..17641578a01ebdb9a1be5794912ecc24e3c71ad7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mesh/chessboard_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16798f8a5a8f871bc949cd031315c62bac6de89125ba41257842a659efb6be2c
+size 4616777
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mesh/material.mtl b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mesh/material_0.png b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d0aac395e4a0d9ae518ba325dc43374d04103b0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a4c98353eb89c172ee99c32d12b77596700ae0692354292f552f35d9aaf3d4d
+size 2498879
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/d96b65cd9cca5c9482eed4c2ce31d92d.xml b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/d96b65cd9cca5c9482eed4c2ce31d92d.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9c6e1c3f433eecadf616ee8dc82a7c5a36645507
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/d96b65cd9cca5c9482eed4c2ce31d92d.xml
@@ -0,0 +1,76 @@
+<?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" />
+  </asset>
+  <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" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74ebfc6d42510add81928753315852321e08eec9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard.obj
@@ -0,0 +1,48038 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.173357 0.044967 -0.011550
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diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a292b8012348f134bb67acf7f005460e7410749
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision.obj
@@ -0,0 +1,7839 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_0.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4861470359cb4ed64f8f5dcf162eb53dcfac3b5f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_1.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cd0d42c0698308ab455660d1388e8731015784c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_1.obj
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diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_10.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99bfb34141e1d7fc6eb3290fe4955efa10b29102
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_10.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_11.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..913fd20795f8c88a00f5707b1890a6ba6543a08e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_11.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_12.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d56760056056d49819a5a6725d4e42a0bf1fc00a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_12.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.17096197 -0.04647898 -0.00145319
+v 0.16850753 -0.04602446 -0.00145319
+v 0.17720132 -0.04551693 -0.00145319
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+v 0.17879793 -0.04512302 -0.00145319
+v 0.17889947 -0.03874866 0.04425131
+v 0.17692823 -0.03801767 0.04882233
+v 0.17096197 -0.03846840 0.04934998
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+v 0.16157492 -0.04307392 -0.00145318
+v 0.18088822 -0.04354737 -0.00145318
+v 0.18228525 -0.03720710 0.04225543
+v 0.18177055 -0.03669200 0.04698132
+v 0.17627347 -0.03115457 0.05591691
+v 0.17096197 -0.03500654 0.05289439
+v 0.17096197 -0.03137425 0.05605454
+v 0.16666584 -0.03035159 0.05504514
+v 0.16378774 -0.03282867 0.05047411
+v 0.15972972 -0.03046520 0.04774986
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+v 0.18216271 -0.04252093 -0.00145318
+v 0.18379082 -0.03381720 0.04425133
+v 0.18493575 -0.04010823 -0.00145317
+v 0.18807994 -0.03469955 -0.00145315
+v 0.18313957 -0.03184767 0.04886824
+v 0.18031051 -0.02588600 0.05302633
+v 0.17667963 -0.02588602 0.05625530
+v 0.17096197 -0.02588602 0.05713853
+v 0.16652228 -0.02588601 0.05521148
+v 0.16288791 -0.02588600 0.05156957
+v 0.15952664 -0.02588599 0.04802517
+v 0.15846223 -0.02588597 0.04370650
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+v 0.15494690 -0.03314284 -0.00145314
+v 0.18573055 -0.02588597 0.04370650
+v 0.18944196 -0.03088164 -0.00145313
+v 0.18364026 -0.02588599 0.04948193
+v 0.18295050 -0.02057578 0.04860445
+v 0.17569225 -0.02132574 0.05531473
+v 0.17096197 -0.02121969 0.05541223
+v 0.16691793 -0.02180298 0.05479282
+v 0.15968769 -0.02141284 0.04778431
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+v 0.18363326 -0.01953796 0.04370653
+v 0.18979209 -0.02588580 -0.00145312
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+v 0.17691772 -0.01398913 0.04370655
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+v 0.17164123 -0.00778487 -0.00145305
+v 0.17096197 -0.01307632 0.04370655
+v 0.16562594 -0.01407624 0.04370655
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+v 0.17549968 -0.00869389 -0.00145305
+v 0.16365120 -0.01068238 -0.00145306
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+
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_13.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3afe4ee0fede70c1b62df900ad414c8cac2efd6e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_13.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.05572758 0.17747473 -0.00533446
+v 0.05738828 0.18473391 -0.00533443
+v 0.05655351 0.17282955 -0.00533448
+v 0.06782947 0.17747901 0.02953731
+v 0.06133685 0.19152063 -0.00533441
+v 0.07274531 0.18128077 0.04038021
+v 0.07187079 0.18224338 0.03661888
+v 0.05713210 0.17021995 -0.00533448
+v 0.07259072 0.17346523 0.04066477
+v 0.07067386 0.17747899 0.03661886
+v 0.06247637 0.19263776 -0.00533440
+v 0.07255981 0.17747897 0.04070273
+v 0.07652163 0.17747896 0.04311700
+v 0.07652163 0.18204907 0.04146166
+v 0.07652163 0.18446442 0.03661889
+v 0.07583262 0.18738753 0.02945198
+v 0.06926050 0.19738008 -0.00533438
+v 0.05791829 0.16706283 -0.00533450
+v 0.07282923 0.16654609 0.02612693
+v 0.07652163 0.16999903 0.03661883
+v 0.07652163 0.17258212 0.04181735
+v 0.06090401 0.16183922 -0.00533452
+v 0.06517942 0.15783872 -0.00533453
+v 0.08202932 0.17747896 0.04257628
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+v 0.08146839 0.17254679 0.04186479
+v 0.08110622 0.18876519 0.02703770
+v 0.07779366 0.18876519 0.02703770
+v 0.07652605 0.19994552 -0.00533438
+v 0.07652163 0.16763672 0.03038631
+v 0.07179571 0.15483614 -0.00533454
+v 0.08090746 0.16627232 0.02699968
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+v 0.10017332 0.17040982 -0.00533448
+v 0.10084467 0.17747473 -0.00533446
+v 0.10081375 0.17962952 -0.00533445
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+
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_14.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee4bd248823fe96c1583bcc34d92e96a5b12a43d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_14.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.00341635 0.17016039 -0.00533448
+v -0.00341635 0.17021965 -0.00531967
+v -0.01594797 0.17748059 0.01357685
+v -0.01644317 0.17542491 0.01357684
+v -0.01882993 0.16985949 0.01357682
+v -0.00699427 0.16286746 -0.00533451
+v -0.00341635 0.18309166 -0.00533444
+v -0.00341635 0.17748066 -0.00473098
+v -0.00341635 0.18292301 -0.00531593
+v -0.00363049 0.18428132 -0.00533443
+v -0.00514285 0.18930888 -0.00533441
+v -0.01865148 0.18426757 0.01357688
+v -0.01954373 0.16910285 0.01357682
+v -0.01061233 0.15904781 -0.00533453
+v -0.00810958 0.19459169 -0.00533440
+v -0.02429048 0.18773171 0.01357689
+v -0.01692498 0.20023459 -0.00533437
+v -0.02031552 0.16849663 0.01357682
+v -0.01636733 0.15483614 -0.00533454
+v -0.02680216 0.18813283 0.01357689
+v -0.02337593 0.20138778 -0.00533437
+v -0.02518719 0.16626772 0.01357681
+v -0.02150667 0.16655033 0.01195336
+v -0.01804029 0.15483614 -0.00496246
+v -0.03309250 0.15483614 -0.00533454
+v -0.03031315 0.18768614 0.01357689
+v -0.02518719 0.20140145 -0.00533437
+v -0.03254377 0.20118722 -0.00533437
+v -0.02926923 0.18854761 0.01260874
+v -0.02772564 0.16616289 0.01357681
+v -0.02518719 0.15483614 -0.00445154
+v -0.03279806 0.15483614 -0.00468479
+v -0.03896796 0.15484525 -0.00533454
+v -0.03199504 0.18701609 0.01357689
+v -0.03744667 0.19911786 -0.00533438
+v -0.02995626 0.16608085 0.01357681
+v -0.04046247 0.15494553 -0.00533454
+v -0.03267761 0.18661043 0.01357689
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+v -0.03340925 0.16793599 0.01357682
+v -0.04414299 0.15835497 -0.00533453
+v -0.03748236 0.17169184 0.01357683
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+v -0.04653868 0.19286418 -0.00533440
+v -0.04788597 0.16202422 -0.00533451
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+v -0.04689557 0.19250409 -0.00533440
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+v -0.04780567 0.19156968 -0.00533441
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+v -0.04899236 0.18376169 -0.00449957
+v -0.04899236 0.17748066 -0.00413306
+v -0.04899236 0.17021965 -0.00457736
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+f 1 33 37
+f 1 37 41
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+
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_15.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e844829bad5c477329338bcff9dc11de3ed9f63
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_15.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.17096051 0.06231657 -0.00145279
+v 0.16842121 0.06275963 -0.00145279
+v 0.17663838 0.06353420 -0.00145279
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+v 0.16696240 0.06470834 0.02643529
+v 0.16474089 0.06345055 -0.00145279
+v 0.17869646 0.06457522 -0.00145278
+v 0.17817589 0.07000020 0.02892099
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+v 0.17575462 0.08089683 0.04171021
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+v 0.16579112 0.08109202 0.04206217
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+v 0.17560632 0.09327773 -0.00145268
+v 0.17426251 0.09375797 -0.00145268
+v 0.17096051 0.09396865 -0.00145267
+v 0.16396608 0.09326224 -0.00145268
+f 1 2 6
+f 1 6 14
+f 1 14 24
+f 1 24 23
+f 1 23 22
+f 1 22 33
+f 1 33 44
+f 1 44 43
+f 1 43 42
+f 1 42 53
+f 1 53 52
+f 1 52 51
+f 1 51 50
+f 1 50 49
+f 1 49 48
+f 1 48 45
+f 1 45 35
+f 1 35 28
+f 1 28 27
+f 1 27 25
+f 1 25 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 4 7 8
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 7 15 16
+f 7 16 8
+f 8 10 9
+f 8 16 10
+f 10 17 18
+f 10 18 11
+f 10 16 17
+f 11 18 12
+f 12 18 19
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 15 25 16
+f 16 26 17
+f 16 25 27
+f 16 27 28
+f 16 28 26
+f 17 29 18
+f 17 26 29
+f 18 30 31
+f 18 31 19
+f 18 29 30
+f 19 31 20
+f 20 31 32
+f 20 32 21
+f 21 32 22
+f 22 32 33
+f 26 34 29
+f 26 28 34
+f 28 35 34
+f 29 36 30
+f 29 34 37
+f 29 37 38
+f 29 38 36
+f 30 36 39
+f 30 39 31
+f 31 39 40
+f 31 40 41
+f 31 41 32
+f 32 41 42
+f 32 42 43
+f 32 43 44
+f 32 44 33
+f 34 35 45
+f 34 45 37
+f 36 38 46
+f 36 46 47
+f 36 47 39
+f 37 46 38
+f 37 45 48
+f 37 48 49
+f 37 49 50
+f 37 50 51
+f 37 51 46
+f 39 47 46
+f 39 46 40
+f 40 46 52
+f 40 52 53
+f 40 53 42
+f 40 42 41
+f 46 51 52
+
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_16.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c51a3e5f955475978a11d251d5307c4e46298f96
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_16.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.17048235 -0.09391167 -0.00099489
+v -0.17400299 -0.09311245 -0.00099489
+v -0.16307209 -0.09247741 -0.00099489
+v -0.16519838 -0.08866724 0.02817277
+v -0.17048235 -0.08918459 0.02925305
+v -0.17565744 -0.08865485 0.02816395
+v -0.17785330 -0.09182687 -0.00099489
+v -0.15809965 -0.08919996 -0.00099488
+v -0.15904634 -0.08164149 0.02722039
+v -0.16540103 -0.08192034 0.04177114
+v -0.17048235 -0.08608373 0.03662104
+v -0.17551529 -0.08188936 0.04187256
+v -0.18175503 -0.08131313 0.02693378
+v -0.18215125 -0.08847508 -0.00099487
+v -0.18048772 -0.09045456 -0.00099488
+v -0.15671438 -0.08721119 -0.00099487
+v -0.15897377 -0.07672533 0.02741442
+v -0.16272123 -0.07672536 0.03662108
+v -0.15543800 -0.08408863 -0.00099486
+v -0.15506296 -0.08009561 -0.00099484
+v -0.15489358 -0.07672523 -0.00099483
+v -0.16510160 -0.07672538 0.04206659
+v -0.17048235 -0.07672539 0.04405078
+v -0.17048235 -0.08267931 0.04265301
+v -0.17582077 -0.07672538 0.04214595
+v -0.17806502 -0.07672536 0.03662108
+v -0.18170059 -0.07672533 0.02681034
+v -0.18579287 -0.07672523 -0.00099483
+v -0.18477358 -0.08399880 -0.00099486
+v -0.15930949 -0.07265485 0.02666043
+v -0.15700777 -0.06981409 -0.00099481
+v -0.16596966 -0.07236681 0.04109213
+v -0.17048235 -0.07200127 0.04155953
+v -0.17498598 -0.07236062 0.04109655
+v -0.18143140 -0.07300800 0.02614013
+v -0.18520308 -0.07371419 -0.00099482
+v -0.16309629 -0.07062582 0.02922667
+v -0.15894048 -0.06718408 -0.00099480
+v -0.16003842 -0.06589851 -0.00099479
+v -0.16512881 -0.07160164 0.03662110
+v -0.17048235 -0.06772940 0.02953533
+v -0.17048235 -0.07016737 0.03662110
+v -0.17735726 -0.06356898 -0.00099478
+v -0.17574214 -0.07165740 0.03662110
+v -0.17779886 -0.07095419 0.02891802
+v -0.17985558 -0.06530992 -0.00099479
+v -0.18312820 -0.06782842 -0.00099480
+v -0.18389645 -0.06972116 -0.00099481
+v -0.16232804 -0.06438060 -0.00099479
+v -0.16322030 -0.06405533 -0.00099479
+v -0.16695870 -0.06271399 -0.00099478
+v -0.17030693 -0.06226791 -0.00099478
+f 1 2 7
+f 1 7 15
+f 1 15 14
+f 1 14 29
+f 1 29 28
+f 1 28 36
+f 1 36 48
+f 1 48 47
+f 1 47 46
+f 1 46 43
+f 1 43 52
+f 1 52 51
+f 1 51 50
+f 1 50 49
+f 1 49 39
+f 1 39 38
+f 1 38 31
+f 1 31 21
+f 1 21 20
+f 1 20 19
+f 1 19 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 4 8 9
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 8 16 9
+f 9 17 18
+f 9 18 10
+f 9 16 19
+f 9 19 20
+f 9 20 21
+f 9 21 17
+f 10 18 22
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 11 24 12
+f 12 24 23
+f 12 23 25
+f 12 25 13
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 14
+f 17 30 18
+f 17 21 30
+f 18 30 22
+f 21 31 30
+f 22 30 32
+f 22 32 23
+f 23 32 33
+f 23 33 34
+f 23 34 25
+f 25 34 35
+f 25 35 26
+f 26 35 27
+f 27 35 28
+f 28 35 36
+f 30 37 32
+f 30 31 38
+f 30 38 39
+f 30 39 37
+f 32 37 40
+f 32 40 41
+f 32 41 42
+f 32 42 33
+f 33 42 34
+f 34 42 41
+f 34 41 43
+f 34 43 44
+f 34 44 45
+f 34 45 35
+f 35 45 46
+f 35 46 47
+f 35 47 48
+f 35 48 36
+f 37 41 40
+f 37 39 49
+f 37 49 41
+f 41 49 50
+f 41 50 51
+f 41 51 52
+f 41 52 43
+f 43 46 45
+f 43 45 44
+
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_17.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f03839ba394ccd6eb10a2405f86831ee8098b44
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_17.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.00477894 -0.17853801 -0.00390368
+v 0.00515622 -0.17219260 -0.00390365
+v 0.00589790 -0.18318028 -0.00390369
+v 0.01432650 -0.18273815 0.04804293
+v 0.01385920 -0.17840178 0.04881579
+v 0.01400068 -0.17293687 0.04854593
+v 0.00588075 -0.17071269 -0.00390365
+v 0.01536400 -0.16841446 0.04370643
+v 0.00800719 -0.18694206 -0.00390371
+v 0.02141751 -0.18965816 0.04790183
+v 0.01884948 -0.18523084 0.05033081
+v 0.02112598 -0.18288286 0.05512127
+v 0.01663729 -0.17840179 0.05235496
+v 0.01254303 -0.19234909 -0.00390373
+v 0.02059008 -0.17290384 0.05585121
+v 0.01785914 -0.17049794 0.05124479
+v 0.01996844 -0.16602927 0.04922681
+v 0.01018080 -0.16337517 -0.00390362
+v 0.01899525 -0.16544225 0.04370644
+v 0.01086675 -0.16260214 -0.00390362
+v 0.02567039 -0.19005088 0.04858881
+v 0.02567039 -0.18733497 0.05213412
+v 0.01818068 -0.19492445 -0.00390374
+v 0.02360826 -0.19708231 -0.00390374
+v 0.02567039 -0.19753702 -0.00390375
+v 0.02567039 -0.18370550 0.05595546
+v 0.02567039 -0.17840182 0.05875858
+v 0.02027283 -0.17840181 0.05605974
+v 0.02567039 -0.17163062 0.05713317
+v 0.02567039 -0.16800112 0.05397431
+v 0.02567039 -0.16514464 0.05042902
+v 0.02567039 -0.16301569 0.04370645
+v 0.01790201 -0.15699255 -0.00390360
+v 0.03111512 -0.18993512 0.04838639
+v 0.03129089 -0.18341198 0.05571011
+v 0.03292860 -0.19644984 -0.00390374
+v 0.03260277 -0.17840181 0.05702274
+v 0.03171104 -0.17245325 0.05654434
+v 0.03292860 -0.16581018 0.04959483
+v 0.03292860 -0.16428892 0.04370645
+v 0.03213975 -0.15587229 -0.00390359
+v 0.02567039 -0.15531009 -0.00390359
+v 0.01806921 -0.15693881 -0.00390360
+v 0.03538515 -0.18868257 0.04370636
+v 0.03807750 -0.18413951 0.04932487
+v 0.03362312 -0.18619817 0.05121407
+v 0.03623401 -0.17840180 0.05411534
+v 0.04034542 -0.19279555 -0.00390373
+v 0.03833045 -0.17114280 0.04966228
+v 0.03715576 -0.16691804 0.04811046
+v 0.03804320 -0.15766223 -0.00390360
+v 0.03292860 -0.15602524 -0.00390359
+v 0.03879346 -0.18505307 0.04370637
+v 0.04055121 -0.19257645 -0.00390373
+v 0.03902497 -0.17840179 0.05057004
+v 0.04137006 -0.17840176 0.04370639
+v 0.03994671 -0.17114278 0.04370642
+v 0.04601737 -0.16527258 -0.00390363
+v 0.04556721 -0.16434662 -0.00390362
+v 0.03868628 -0.15816242 -0.00390360
+v 0.04599164 -0.18665683 -0.00390371
+v 0.04694769 -0.18556963 -0.00390370
+v 0.04857682 -0.17840159 -0.00390368
+v 0.04801519 -0.17114261 -0.00390365
+v 0.04708916 -0.18514385 -0.00390370
+f 1 2 7
+f 1 7 18
+f 1 18 20
+f 1 20 33
+f 1 33 43
+f 1 43 42
+f 1 42 41
+f 1 41 52
+f 1 52 51
+f 1 51 60
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+f 1 59 58
+f 1 58 64
+f 1 64 63
+f 1 63 65
+f 1 65 62
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+f 1 61 54
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+f 1 24 23
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+f 2 6 8
+f 2 8 7
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+f 4 10 11
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+f 4 13 5
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+f 8 20 18
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+f 15 17 16
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+f 19 33 20
+f 21 34 22
+f 21 25 34
+f 22 35 26
+f 22 34 35
+f 25 36 34
+f 26 35 27
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+f 27 38 29
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+f 30 38 39
+f 30 39 31
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+f 32 39 40
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+f 32 41 42
+f 32 42 43
+f 32 43 33
+f 34 44 45
+f 34 45 46
+f 34 46 35
+f 34 36 44
+f 35 46 45
+f 35 45 47
+f 35 47 37
+f 36 48 44
+f 37 47 38
+f 38 47 49
+f 38 49 50
+f 38 50 39
+f 39 50 40
+f 40 50 51
+f 40 51 52
+f 40 52 41
+f 44 53 45
+f 44 48 54
+f 44 54 53
+f 45 55 47
+f 45 53 56
+f 45 56 55
+f 47 55 49
+f 49 55 56
+f 49 56 57
+f 49 57 50
+f 50 57 58
+f 50 58 59
+f 50 59 60
+f 50 60 51
+f 53 54 61
+f 53 61 62
+f 53 62 56
+f 56 63 64
+f 56 64 57
+f 56 62 65
+f 56 65 63
+f 57 64 58
+
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_18.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca07d096a612471387865563e2c0e0ead42a3abf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_18.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.07652202 -0.19542821 -0.00390374
+v 0.07616424 -0.19537875 -0.00390374
+v 0.08377835 -0.19459526 -0.00390373
+v 0.08024895 -0.18933148 0.02609068
+v 0.07991726 -0.18933148 0.02609068
+v 0.06876628 -0.19294839 -0.00390373
+v 0.09021104 -0.19199754 -0.00390373
+v 0.08831031 -0.18320041 0.02780853
+v 0.08363673 -0.18574870 0.02931049
+v 0.08089744 -0.18263757 0.04095750
+v 0.07843394 -0.18263757 0.04095750
+v 0.07710715 -0.18745642 0.02888327
+v 0.06433869 -0.19058269 -0.00390372
+v 0.07090927 -0.18411323 0.02953534
+v 0.09084462 -0.19142323 -0.00390372
+v 0.08894761 -0.17840056 0.02909466
+v 0.08507533 -0.17840058 0.03662249
+v 0.09658409 -0.18396479 -0.00390370
+v 0.09684870 -0.18294168 -0.00390369
+v 0.09784379 -0.17840044 -0.00390368
+v 0.08175463 -0.17840060 0.04203677
+v 0.07359266 -0.18093365 0.03957247
+v 0.07212425 -0.18281251 0.03485070
+v 0.07621642 -0.18371772 0.03697774
+v 0.07621642 -0.17846905 0.04191086
+v 0.06205036 -0.18611751 -0.00390370
+v 0.06822588 -0.17840056 0.02953536
+v 0.08856374 -0.17247106 0.02831223
+v 0.09788479 -0.17720237 -0.00390367
+v 0.09737420 -0.17109792 -0.00390365
+v 0.08154592 -0.17330786 0.04186141
+v 0.07652202 -0.17332307 0.04175349
+v 0.07258638 -0.17609194 0.04058428
+v 0.07146830 -0.17846904 0.03697775
+v 0.07258638 -0.17430815 0.04058429
+v 0.05982166 -0.17844988 -0.00390368
+v 0.07168819 -0.17308724 0.03662251
+v 0.06026516 -0.17115878 -0.00390365
+v 0.06025025 -0.17131471 -0.00390365
+v 0.05981047 -0.17840044 -0.00390368
+v 0.08243294 -0.16655679 0.02817734
+v 0.08491134 -0.17003689 0.03060566
+v 0.09562627 -0.16697125 -0.00390363
+v 0.09198133 -0.16290162 -0.00390362
+v 0.08825067 -0.15916289 -0.00390360
+v 0.07652202 -0.17023469 0.03662252
+v 0.07208325 -0.16688388 0.02736790
+v 0.07025706 -0.17079757 0.02965231
+v 0.06244541 -0.16495545 -0.00390363
+v 0.07652202 -0.16632478 0.02866301
+v 0.07652202 -0.16805535 0.03220207
+v 0.08366655 -0.15734867 -0.00390360
+v 0.07652202 -0.15657659 -0.00390360
+v 0.07038750 -0.15788875 -0.00390360
+v 0.06960484 -0.15811696 -0.00390360
+v 0.06275847 -0.16449143 -0.00390362
+f 1 2 6
+f 1 6 13
+f 1 13 26
+f 1 26 36
+f 1 36 40
+f 1 40 39
+f 1 39 38
+f 1 38 49
+f 1 49 56
+f 1 56 55
+f 1 55 54
+f 1 54 53
+f 1 53 52
+f 1 52 45
+f 1 45 44
+f 1 44 43
+f 1 43 30
+f 1 30 29
+f 1 29 20
+f 1 20 19
+f 1 19 18
+f 1 18 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 4 7 8
+f 5 11 12
+f 5 12 6
+f 6 12 14
+f 6 14 13
+f 7 15 8
+f 8 16 17
+f 8 17 10
+f 8 10 9
+f 8 15 18
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+f 10 17 21
+f 10 21 11
+f 11 22 23
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+f 11 24 12
+f 11 21 25
+f 11 25 22
+f 12 24 23
+f 12 23 14
+f 13 14 26
+f 14 23 27
+f 14 27 26
+f 16 28 17
+f 16 20 29
+f 16 29 30
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+f 17 31 21
+f 17 28 31
+f 21 31 32
+f 21 32 25
+f 22 25 33
+f 22 33 34
+f 22 34 23
+f 23 34 27
+f 25 32 35
+f 25 35 33
+f 26 27 36
+f 27 34 33
+f 27 33 35
+f 27 35 37
+f 27 37 38
+f 27 38 39
+f 27 39 40
+f 27 40 36
+f 28 41 42
+f 28 42 31
+f 28 30 43
+f 28 43 44
+f 28 44 45
+f 28 45 41
+f 31 46 32
+f 31 42 41
+f 31 41 46
+f 32 46 35
+f 35 46 47
+f 35 47 37
+f 37 47 48
+f 37 48 38
+f 38 48 49
+f 41 50 51
+f 41 51 46
+f 41 45 52
+f 41 52 53
+f 41 53 50
+f 46 51 47
+f 47 51 50
+f 47 50 53
+f 47 53 54
+f 47 54 55
+f 47 55 56
+f 47 56 49
+f 47 49 48
+
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_19.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcb34405133ac6c36be4bdde3f05fa8c8027721d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_19.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.16619238 0.15441596 -0.00145245
+v 0.15575594 0.15427669 0.01582940
+v 0.16369737 0.15609580 0.02245221
+v 0.16719647 0.15441596 -0.00145245
+v 0.16365173 0.15285122 -0.00145246
+v 0.15254590 0.15245278 0.01145927
+v 0.15746290 0.15505904 0.02245221
+v 0.15254590 0.15245277 0.01377112
+v 0.16868434 0.15426236 -0.00145245
+v 0.15893556 0.15374867 0.02801840
+v 0.16426331 0.15378226 0.03004285
+v 0.16818838 0.15294230 0.02953568
+v 0.15659878 0.14800821 -0.00145248
+v 0.15331266 0.14345320 -0.00145249
+v 0.15181870 0.13962775 -0.00145251
+v 0.15123145 0.13580231 -0.00145252
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diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_2.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f505d151e033314b8ed19bc9cbc740cae73e00d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_2.obj
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diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_20.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edf0ae67b2ce2115be9593c2f5a80f7217b7d54d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_20.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_21.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..163a4ef9af18cc1b43b756334f5b9613d1b9e3db
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_21.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_22.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..596e64a899575cec7c81112f6993bcd0cb37fee5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_22.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_23.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6bfdd24cb7897209acc63605f094a7602dd44e1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_23.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_24.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99adb7ced3f303bf9606efacba566220830133cb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_24.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.17096432 0.00810148 -0.00145299
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+
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_25.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5704b3d3fc691f5f349ac94322b648144191db98
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_25.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.16873471 0.15707427 -0.00145244
+v 0.16773854 0.15707427 -0.00145244
+v 0.17124971 0.15824777 -0.00145244
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+v 0.17096070 0.16781478 0.03896897
+v 0.17096070 0.16506375 0.03543084
+v 0.18382474 0.16790628 -0.00145240
+v 0.17984316 0.16971209 0.02953716
+v 0.15891450 0.16540118 -0.00145241
+v 0.16301906 0.16477919 0.02989954
+v 0.16014433 0.16666590 0.03250784
+v 0.15992604 0.16606863 0.02778239
+v 0.16731426 0.17383333 0.04726117
+v 0.18176477 0.16593171 -0.00145241
+v 0.18203226 0.17747683 0.03340910
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+
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_26.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..075711bb83c676084658f483e8fd64853820f2bd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_26.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_27.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96ada67b8f8ff5f106faf9d1390ae66ef3b0b02e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_27.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.17048343 0.00816707 -0.00098881
+v -0.17403978 0.00868589 -0.00098881
+v -0.16316005 0.00989030 -0.00098880
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+
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_28.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..735a78df760e6e0f065d2699acdc810845d05119
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_28.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.02566612 0.20159587 -0.00533437
+v 0.01868721 0.20047894 -0.00533437
+v 0.02541726 0.18817898 0.01357689
+v 0.02691037 0.18824306 0.01357689
+v 0.02832054 0.18824306 0.01357689
+v 0.02748550 0.20158671 -0.00533437
+v 0.01584477 0.19895920 -0.00533438
+v 0.02425043 0.18786771 0.01357689
+v 0.03073716 0.18771207 0.01357689
+v 0.02981917 0.18859554 0.01273462
+v 0.03503400 0.20105571 -0.00533437
+v 0.02104854 0.18604126 0.01357688
+v 0.01110553 0.19565878 -0.00533439
+v 0.03320909 0.18635253 0.01357688
+v 0.04382123 0.19635914 -0.00533439
+v 0.01891394 0.18447116 0.01357688
+v -0.00341635 0.18308881 -0.00533444
+v 0.03754464 0.18271796 0.01357687
+v 0.04788028 0.19242702 -0.00533440
+v 0.01700608 0.17976543 0.01357686
+v -0.00341635 0.17016180 -0.00533448
+v -0.00341635 0.18292401 -0.00531593
+v 0.01617104 0.17748123 0.01357685
+v 0.03818059 0.18091440 0.01357686
+v 0.05050704 0.18727727 -0.00533442
+v -0.00341635 0.17021672 -0.00531967
+v 0.00779303 0.15956474 -0.00533452
+v 0.01882546 0.17033109 0.01357683
+v -0.00341635 0.17748130 -0.00473098
+v 0.03882207 0.17748123 0.01357685
+v 0.05307851 0.17748130 -0.00533446
+v 0.05127572 0.18474131 -0.00533443
+v 0.01537472 0.15484071 -0.00533454
+v 0.02368636 0.16688878 0.01357681
+v 0.03779349 0.17196985 0.01357683
+v 0.05272459 0.17517879 -0.00533447
+v 0.01731023 0.15484071 -0.00489767
+v 0.02708181 0.16627995 0.01357681
+v 0.03625614 0.15484071 -0.00533454
+v 0.04695123 0.16236621 -0.00533451
+v 0.04805171 0.16345567 -0.00533451
+v 0.05149139 0.17021672 -0.00533448
+v 0.03647734 0.17075681 0.01357683
+v 0.02565506 0.15484071 -0.00454780
+v 0.03006802 0.16622045 0.01343612
+v 0.03023393 0.16637151 0.01357681
+v 0.04019353 0.15698300 -0.00533453
+v 0.03266714 0.16757083 0.01357682
+v 0.03321462 0.15484071 -0.00467183
+v 0.03357960 0.16822542 0.01357682
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 15
+f 1 15 19
+f 1 19 25
+f 1 25 32
+f 1 32 31
+f 1 31 36
+f 1 36 42
+f 1 42 41
+f 1 41 40
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+f 1 33 27
+f 1 27 21
+f 1 21 17
+f 1 17 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
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+f 3 23 28
+f 3 28 34
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+f 3 48 50
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+f 3 35 30
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+f 3 18 14
+f 3 14 9
+f 3 9 5
+f 3 5 4
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+f 5 11 6
+f 7 12 8
+f 7 13 12
+f 9 14 15
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+f 9 11 10
+f 12 13 16
+f 13 17 16
+f 14 18 15
+f 15 18 19
+f 16 17 20
+f 17 21 26
+f 17 26 29
+f 17 29 22
+f 17 22 23
+f 17 23 20
+f 18 24 25
+f 18 25 19
+f 21 27 28
+f 21 28 23
+f 21 23 26
+f 22 29 23
+f 23 29 26
+f 24 30 31
+f 24 31 32
+f 24 32 25
+f 27 33 34
+f 27 34 28
+f 30 35 36
+f 30 36 31
+f 33 37 38
+f 33 38 34
+f 33 39 49
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+f 35 40 41
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+f 35 43 40
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+f 39 48 46
+f 39 46 45
+f 39 45 49
+f 40 43 50
+f 40 50 47
+f 44 49 45
+f 47 50 48
+
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_29.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b8671ba6e5d19c1f9cbaebd1e2ba100a8bbcd4a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_29.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.17048264 0.06245541 -0.00099432
+v -0.17242933 0.06285327 -0.00099432
+v -0.16386034 0.06399175 -0.00099431
+v -0.17048264 0.06750812 0.02953773
+v -0.17621307 0.06364899 -0.00099432
+v -0.16322034 0.06414784 -0.00099431
+v -0.16316996 0.07017071 0.02894136
+v -0.16544555 0.07100620 0.03662083
+v -0.16626629 0.07173151 0.04070905
+v -0.17048264 0.07009724 0.03662083
+v -0.17441157 0.07191207 0.04051458
+v -0.17674048 0.06992893 0.02953774
+v -0.17978645 0.06591984 -0.00099431
+v -0.15811214 0.06724197 -0.00099430
+v -0.15951660 0.07206208 0.02617987
+v -0.16285293 0.07579887 0.03662085
+v -0.16531517 0.07579885 0.04180675
+v -0.17048264 0.07579884 0.04315509
+v -0.17048264 0.07164888 0.04083438
+v -0.17519676 0.07579885 0.04150857
+v -0.17750198 0.07579887 0.03662085
+v -0.18029904 0.07513783 0.02960259
+v -0.18355241 0.06953731 -0.00099429
+v -0.15742768 0.06901091 -0.00099430
+v -0.15906918 0.07579890 0.02723004
+v -0.15600840 0.07284872 -0.00099428
+v -0.15534766 0.07579900 -0.00099427
+v -0.15896548 0.08128630 0.02745478
+v -0.16538628 0.08113017 0.04180677
+v -0.17048264 0.08178510 0.04248095
+v -0.17525898 0.08086697 0.04160798
+v -0.18182795 0.07711490 0.02728622
+v -0.18561762 0.07579900 -0.00099427
+v -0.15584247 0.08314716 -0.00099424
+v -0.16115513 0.08344698 0.02970633
+v -0.15827806 0.08826731 -0.00099423
+v -0.17048264 0.08541482 0.03760620
+v -0.16485887 0.08806827 0.02953780
+v -0.16633444 0.08704301 0.03387668
+v -0.17447083 0.08694201 0.03359577
+v -0.17583677 0.08794585 0.02953780
+v -0.17619530 0.08319600 0.03622329
+v -0.17957607 0.08316235 0.02960262
+v -0.18182795 0.08080887 0.02728624
+v -0.18543391 0.07895740 -0.00099426
+v -0.16055956 0.09040045 -0.00099422
+v -0.17048264 0.08714399 0.03406683
+v -0.17048264 0.08931999 0.02953781
+v -0.16237884 0.09161239 -0.00099421
+v -0.16532998 0.09297735 -0.00099421
+v -0.16751075 0.09366290 -0.00099421
+v -0.17751086 0.09263152 -0.00099421
+v -0.18265166 0.08811429 -0.00099423
+v -0.18399093 0.08629638 -0.00099423
+v -0.18511391 0.08326040 -0.00099424
+v -0.17048264 0.09371798 -0.00099421
+f 1 2 5
+f 1 5 13
+f 1 13 23
+f 1 23 33
+f 1 33 45
+f 1 45 55
+f 1 55 54
+f 1 54 53
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+f 1 51 50
+f 1 50 49
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+f 1 34 27
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+f 1 24 14
+f 1 14 6
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+f 36 46 38
+f 37 39 47
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+f 40 47 48
+f 40 48 41
+f 41 43 42
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+f 41 53 43
+f 43 53 44
+f 44 53 54
+f 44 54 55
+f 44 55 45
+f 48 51 56
+f 48 56 52
+
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_3.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a33e393bf30443cf2207d6d9e71dd9d5f4407023
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_3.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.07604215 -0.19692083 -0.00404699
+v -0.07809203 -0.19679725 -0.00404699
+v -0.06824722 -0.19373976 -0.00404698
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+v -0.08102428 -0.18303271 0.04147075
+v -0.08330150 -0.19629099 -0.00404699
+v -0.06743806 -0.19307005 -0.00404698
+v -0.07240477 -0.18204012 0.04017247
+v -0.07604215 -0.18441992 0.03662170
+v -0.07604215 -0.18278954 0.04114961
+v -0.07604215 -0.17840063 0.04281950
+v -0.08208005 -0.17840063 0.04249378
+v -0.08571357 -0.17840061 0.03768144
+v -0.08701208 -0.18212778 0.03328655
+v -0.08339012 -0.18360273 0.03603909
+v -0.08330150 -0.18605428 0.02953393
+v -0.08451524 -0.19599600 -0.00404699
+v -0.06146952 -0.18646076 -0.00404695
+v -0.06839364 -0.17840058 0.02953395
+v -0.07220441 -0.17840062 0.04048902
+v -0.06128456 -0.18621761 -0.00404695
+v -0.05892644 -0.17840046 -0.00404693
+v -0.07214276 -0.17433459 0.04058538
+v -0.07604215 -0.17308688 0.04182861
+v -0.08152904 -0.17296730 0.04196164
+v -0.08740125 -0.17402763 0.03428208
+v -0.08734346 -0.17840060 0.03413985
+v -0.08910050 -0.17840058 0.02953395
+v -0.09689543 -0.18493800 -0.00404695
+v -0.09672974 -0.18548013 -0.00404695
+v -0.08776345 -0.18310841 0.02953394
+v -0.09017938 -0.19275514 -0.00404698
+v -0.05899964 -0.17777063 -0.00404692
+v -0.05982808 -0.17114140 -0.00404690
+v -0.07198478 -0.16717913 0.02682275
+v -0.07604215 -0.17019680 0.03662175
+v -0.06224015 -0.16446037 -0.00404687
+v -0.08200684 -0.16658917 0.02833206
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+v -0.08369452 -0.15693423 -0.00404685
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+v -0.09322337 -0.16345183 -0.00404687
+v -0.09733854 -0.17031624 -0.00404690
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+f 1 43 42
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+f 38 54 55
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+f 39 55 56
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+f 41 56 57
+f 41 57 42
+f 46 50 51
+
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_30.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec83e229c8192c5485500927ae1d794c2d960965
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_30.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.17319740 0.16130533 -0.00099396
+v -0.16999772 0.16130522 0.02927983
+v -0.16311415 0.16130533 -0.00099396
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+v -0.16438922 0.11937685 0.04167011
+v -0.15915363 0.16130525 0.02250355
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+v -0.15939421 0.13630842 0.04052895
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+v -0.16482828 0.11446876 0.04158231
+v -0.15918670 0.14589115 0.03448426
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+v -0.18075157 0.12691158 -0.00099408
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+v -0.16599809 0.11403382 -0.00099413
+v -0.16319234 0.11401259 -0.00099413
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+f 1 12 3
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+f 1 14 28
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+f 1 41 56
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diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_4.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66249615ebf4b162f82bcb7dc15dac86763015b4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_4.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_5.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4ed700b30686751e642162106843a0657c21655
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_5.obj
@@ -0,0 +1,442 @@
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+
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_6.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4a463109e335c3ca1e110c6bd059c7f049da886
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_6.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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+v -0.04799166 -0.17187472 -0.00390365
+v -0.04655252 -0.18571885 -0.00390370
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+v -0.03184456 -0.16589686 0.05080381
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+
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_7.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a4ac72d8754c3df9291c857a68a85a3ac4936a1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_7.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+v -0.17307131 -0.19150993 -0.00099525
+v -0.16322019 -0.19059765 -0.00099525
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+
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_8.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0bccd41b3276a589475efc9a425a2263a06cd08
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_8.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_9.obj b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f467a546938cfcc7efc9ca95d6507e858c805c87
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/chessboard_collision_9.obj
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diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d0aac395e4a0d9ae518ba325dc43374d04103b0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 2498879
diff --git a/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/textures/material_0.png b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/textures/material_0.png
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+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/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/d96b65cd9cca5c9482eed4c2ce31d92d/video.mp4 b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/decorations/d96b65cd9cca5c9482eed4c2ce31d92d/video.mp4
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