diff --git a/.gitattributes b/.gitattributes
index 66cfa5ef2b9bed01bfa34977745c8ca9c188997e..a891a841a50e2a9e16f842f767d11a0ef4999426 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2874,3 +2874,5 @@ dataset/desktop_supplies/decorations/24e490df82cb5439acb8fe29df33391d/24e490df82
 dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/2d510f714f4b578ca82a1d0e42eed0ea.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mesh/mouse_pad.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mesh/mouse_pad_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mesh/vase_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/vase_010.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mesh/material.mtl b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8323fc1f2bebfe495c7e4bc3ad3061bd804e429
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl vase_010_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_010_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mesh/material_0.png b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..995d82d7bf85469c52f96a3256d48a943c5564b9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac4270a9a73eb5e7cbb2431920c89233ad252de0dd2f30409c48f6aa3053f3ca
+size 8468616
diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mesh/vase_010.glb b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mesh/vase_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9fe9fbf0faa9b33faac445879a0e01a233eb25bb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mesh/vase_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faa24a185ae08ea40f5e2d2b153b34bcc44066b7a201c18120e1912b342fdeee
+size 11938452
diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mesh/vase_010.mtl b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mesh/vase_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..09604117f1f3a86468e025952cdda7a7a749c79d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mesh/vase_010.mtl
@@ -0,0 +1,6 @@
+newmtl vase_010_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/2509ca002af558d495df4acaff50d646/mesh/vase_010.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mesh/vase_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..075e29f78428386cf6c862512f7e934b2ead0b34
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mesh/vase_010.obj
@@ -0,0 +1,104702 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl vase_010_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mesh/vase_010_collision.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mesh/vase_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a38831b8be1e32a213863c835c02952e57ccbf99
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mesh/vase_010_collision.obj
@@ -0,0 +1,17083 @@
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diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mesh/vase_010_geometry_Looks_material_0.png b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mesh/vase_010_geometry_Looks_material_0.png
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+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mesh/vase_010_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:ac4270a9a73eb5e7cbb2431920c89233ad252de0dd2f30409c48f6aa3053f3ca
+size 8468616
diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/material_0.png
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+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac4270a9a73eb5e7cbb2431920c89233ad252de0dd2f30409c48f6aa3053f3ca
+size 8468616
diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010.obj
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index 0000000000000000000000000000000000000000..59380dd53aa7b421083ea4f04984ccce23e9c543
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+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45082d0589f9f18c15f30d747ea08d2faeb3c76f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision.obj
@@ -0,0 +1,17083 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_0.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9bc91dac7d41ae362354266f6e83509c00b33f7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_1.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2359bd610033d54af5299ecac3f3a0f1b189b7d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_1.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_10.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87d6c1f006dc471964f84d51c6a1f64e8119cd2c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_10.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_11.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b879b042832efb175d9a4ce26901db24a396ce98
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_11.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_12.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8559a1501da3dd08d30f8faed1edd797878fd6b1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_12.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_13.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42c0eb1d5b739c54d87f6c5e9e1cf8f982ec7ee3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_13.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_14.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9de338d6317d3e71d2f7ff6adbd5c1ecc0c08de
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_14.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_15.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74ece68dc12e6b359ecb493b8877eb7fe7343327
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_15.obj
@@ -0,0 +1,190 @@
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diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_16.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7491c04acfb05af5a9ca16f7f908d73da4f9c99d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_16.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_17.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1833bcd62a9406ea4dc16ad18959129610b51dd8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_17.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_18.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab96aa78efba822ee748f017639f4dc6acf41211
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_18.obj
@@ -0,0 +1,511 @@
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diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_19.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd2f6960963a7f1c328dc35b4d1c29aa27abfe80
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_19.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_2.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a79998be92342383476a0c06e19fcaf1e28166a4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_2.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_20.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..639998ae2bfc510fd5ed4f0692a796b9053c189b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_20.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_21.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7883100537d4ea6704afff1830718c46abfe29ab
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_21.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_22.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eabb236b37ba7a88110be148833e1d77a1cd041
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_22.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.01264052 -0.00082704 0.01103179
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+
diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_3.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff95a82d61e9f61c3615a958dee78bcc57ba815e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_3.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_4.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2419d74aae8930d37962eada0a1b3492ed15a0a9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_4.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_5.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a3c3c0fd1a0a4ec44c416985f17245c01feb107
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_5.obj
@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_6.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb8dbef09a77747b9f8a68a760ef99ff411db4eb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_6.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_7.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..311d4106172729538404ac2c1a0b73f2892bc143
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_7.obj
@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_8.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c1d06d5eca45baedb3eb27070a891e5a2e17f59
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_8.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_9.obj b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac2c611cd0591f3f563a29ac4398509ba9dfc5d6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/mesh/vase_010_collision_9.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/vase_010.xml b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/vase_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5e26eb259702383454bd0efd2421bb77b55a030f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mjcf/vase_010.xml
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="vase_010">
+  <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_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/vase_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/vase_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/vase_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/vase_010_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/vase_010_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/vase_010_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/vase_010_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/vase_010_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/vase_010_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/vase_010_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/vase_010_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/vase_010_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/vase_010_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/vase_010_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/vase_010_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/vase_010_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/vase_010_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/vase_010_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/vase_010_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/vase_010_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/vase_010_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/vase_010_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/vase_010_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="vase_010">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/textures/material_0.png b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac4270a9a73eb5e7cbb2431920c89233ad252de0dd2f30409c48f6aa3053f3ca
+size 8468616
diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/vase_010.urdf b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/vase_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cae600020b80b8fb17c50e6e4249f73f8430439a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/vase_010.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="vase_010">
+   <link name="vase_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/vase_010.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_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <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>2509ca002af558d495df4acaff50d646</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>decorations</super_category>
+         <category>vase</category>
+         <name>red vase</name>
+         <color>red</color>
+         <shape>elongated</shape>
+         <material>ceramic</material>
+         <description>elegant red vase with a narrow neck and flared rim</description>
+         <min_height>0.1017</min_height>
+         <max_height>0.1017</max_height>
+         <real_height>0.1017</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420201628</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>6</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
diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/vase_010.usd b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/vase_010.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/vase_010.usd
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+size 4980715
diff --git a/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/video.mp4 b/dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/video.mp4
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 123808