diff --git a/.gitattributes b/.gitattributes
index 7067fa5fa3254cbca7ac26cdf1cad15a8989fc99..0bcc3dc9b41e145514bda97f3294e2c081c5e0c2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2907,3 +2907,6 @@ dataset/desktop_supplies/decorations/792fd01039ab5105a7ec70a33a4457a5/792fd01039
 dataset/desktop_supplies/decorations/792fd01039ab5105a7ec70a33a4457a5/mesh/chess_pawn.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/792fd01039ab5105a7ec70a33a4457a5/mesh/chess_pawn_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/7b870f00b34f52b285eae97cc4ca49b4/7b870f00b34f52b285eae97cc4ca49b4.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/7ea12d4cda7752c7a046bb2d9d70e331.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mesh/glasses.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mesh/glasses_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/7ea12d4cda7752c7a046bb2d9d70e331.urdf b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/7ea12d4cda7752c7a046bb2d9d70e331.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e855262e94e2e81b942edd13ee81826a61a16edd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/7ea12d4cda7752c7a046bb2d9d70e331.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glasses">
+   <link name="glasses">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/glasses.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/glasses_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>0.157140</scale>
+         <version>v0.1.7</version>
+         <category>glasses</category>
+         <description>rectangular sunglasses with dark lenses and orange-brown frame</description>
+         <min_height>0.026</min_height>
+         <max_height>0.027</max_height>
+         <real_height>0.026</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <generate_time>20260117172122</generate_time>
+         <gs_model>mesh/glasses_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.3813042640686035</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>8</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" 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/7ea12d4cda7752c7a046bb2d9d70e331/7ea12d4cda7752c7a046bb2d9d70e331.usd b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/7ea12d4cda7752c7a046bb2d9d70e331.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8c1a5dac3bf63db12099739946909f0188d5c213
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/7ea12d4cda7752c7a046bb2d9d70e331.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98ddee8dec56b733ae91e8ca0871996b566ac6bcf0245dfced3fdfd267153c0f
+size 859451
diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mesh/glasses.glb b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mesh/glasses.glb
new file mode 100644
index 0000000000000000000000000000000000000000..eb83a2317ddbd26bbedc31c07e23d83204b942ec
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mesh/glasses.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a8a3ef739ae51ac7d21ab2f4331d82fdbe3bacdec2d5fc01dc7add98b555312
+size 2854168
diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mesh/glasses.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mesh/glasses.obj
new file mode 100644
index 0000000000000000000000000000000000000000..458ed05ab0109978b2e31d55d26c1d0bb8b40670
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mesh/glasses.obj
@@ -0,0 +1,55216 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+
+o glasses.obj
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mesh/glasses_collision.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mesh/glasses_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6832956b5eb17baffc9b99567fcd2aebca1e555e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mesh/glasses_collision.obj
@@ -0,0 +1,6661 @@
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diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mesh/glasses_gs.ply b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mesh/glasses_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1564395fb765cf030163091a982c76bf2bb7e167
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mesh/glasses_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6274c550280ef106e3bdc413fbf692750cf0d460afd2a685eaeeaee230b6568f
+size 1055177
diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mesh/material.mtl b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/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/7ea12d4cda7752c7a046bb2d9d70e331/mesh/material_0.png b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec075e7a91283dba60910f754b485c8dc9d1bfcc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c728ae6a4b5ca5d94229f1fb774ce050f18d33210930dd3e8f968b28fa31732c
+size 2253105
diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/7ea12d4cda7752c7a046bb2d9d70e331.xml b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/7ea12d4cda7752c7a046bb2d9d70e331.xml
new file mode 100644
index 0000000000000000000000000000000000000000..af067aea608b83b501c18aabaabf009ea813f33a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/7ea12d4cda7752c7a046bb2d9d70e331.xml
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="glasses">
+  <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/glasses.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/glasses_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/glasses_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/glasses_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/glasses_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/glasses_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/glasses_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/glasses_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/glasses_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/glasses_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/glasses_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/glasses_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/glasses_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/glasses_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/glasses_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/glasses_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/glasses_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/glasses_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/glasses_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/glasses_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/glasses_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/glasses_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/glasses_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/glasses_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glasses">
+      <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/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f875140a7a1a219efebae60e1236154ecace67de
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses.obj
@@ -0,0 +1,55216 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+
+o glasses.obj
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a6b0083dbac2c78d814476dd267dbc47a85f92e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision.obj
@@ -0,0 +1,6661 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_0.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47d129045f21fc3d45d19b4a12559e020ffc0f70
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_1.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9030831c46dfb1657a953d0d81729bae0279f022
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_1.obj
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diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_10.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..337378dfab1b104c496a60e8445e55504113ef53
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_10.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_11.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6b50e0ed4342b96519cc56b4f63fefc0fa35ec7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_11.obj
@@ -0,0 +1,274 @@
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+
diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_12.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc14b17a94555c001a84da3459a9f41d32d17965
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_12.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.01448392 0.03104571 -0.01230601
+v -0.01448392 0.03084942 -0.01230601
+v -0.01521822 0.03104571 -0.01230601
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+v -0.01138326 0.03159899 -0.01094939
+v -0.00885118 0.03142386 -0.01052855
+v -0.00885118 0.02974861 -0.01138106
+v -0.01138326 0.02974861 -0.01207632
+v -0.01374961 0.02989103 -0.01227827
+v -0.01521822 0.03084942 -0.01230601
+v -0.01621494 0.02989102 -0.01222122
+v -0.01897262 0.02974861 -0.01184661
+v -0.02087859 0.03129107 -0.01026648
+v -0.01897262 0.03149892 -0.01069657
+v -0.01621494 0.03149603 -0.01125309
+v -0.01644513 0.03222056 -0.00406927
+v -0.01407648 0.03222057 -0.00418642
+v -0.01391305 0.03222057 -0.00419106
+v -0.01138326 0.03222057 -0.00410626
+v -0.00929084 0.03222056 -0.00330156
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+v -0.00789589 0.03222056 -0.00185709
+v -0.00708332 0.03222055 -0.00068393
+v -0.00737796 0.03120544 -0.01009691
+v -0.00713396 0.02974861 -0.01035282
+v -0.00719151 0.02804545 -0.01026649
+v -0.00885118 0.02769616 -0.01069044
+v -0.01138326 0.02749890 -0.01096484
+v -0.01391305 0.02742770 -0.01104038
+v -0.01644513 0.02740460 -0.01104962
+v -0.01897262 0.02739498 -0.01098950
+v -0.02150240 0.02738536 -0.01076442
+v -0.02352116 0.02774042 -0.01034357
+v -0.02352116 0.02919917 -0.01034356
+v -0.02163591 0.02993624 -0.01083533
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+v -0.01839024 0.03222056 -0.00320751
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+v -0.01655793 0.03222056 -0.00402764
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+v -0.00684393 0.03222055 0.00127389
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+v -0.01827054 0.03222055 0.00049077
+v -0.00686694 0.03222055 0.00130626
+v -0.01010801 0.02312742 0.00249017
+v -0.00996299 0.02239131 0.00165618
+v -0.00989624 0.02239131 0.00137251
+v -0.00933918 0.02239132 -0.00121582
+v -0.00937601 0.02239133 -0.00159968
+v -0.02910787 0.02239134 -0.00574193
+v -0.03021277 0.02239133 -0.00390127
+v -0.03016674 0.02267134 -0.00368082
+v -0.02806741 0.02627492 -0.00614273
+v -0.02933575 0.02457560 -0.00368081
+v -0.03011149 0.02289072 -0.00121581
+v -0.02882703 0.02463621 -0.00117880
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+v -0.01823831 0.03222055 0.00056323
+v -0.00905605 0.03222054 0.00224509
+v -0.01090907 0.02239131 0.00282933
+v -0.03026111 0.02239133 -0.00368082
+v -0.03036010 0.02239132 -0.00121581
+v -0.02955673 0.02239132 0.00011612
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+v -0.01138326 0.03222054 0.00197840
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+v -0.01118760 0.02239131 0.00292337
+v -0.02697861 0.02239132 0.00132011
+v -0.01644513 0.03222055 0.00129086
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+f 81 86 82
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+
diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_13.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a54bf57b8e2a3e8b87d0360a22b3d99ebe29de0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_13.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.02412746 -0.02397787 0.00559443
+v -0.02398793 -0.02397787 0.00552251
+v -0.02327623 -0.02397787 0.00559443
+v -0.02400073 -0.02205040 0.00559444
+v -0.02282950 -0.02026579 0.00488587
+v -0.02282950 -0.02084069 0.00488586
+v -0.02353608 -0.02397787 0.00553935
+v -0.01391277 -0.01897313 0.00433849
+v -0.02352456 -0.02397787 0.00554156
+v -0.01391277 -0.01870700 0.00559445
+v -0.02354504 -0.01972546 0.00559445
+v -0.01975870 -0.01220913 0.00433852
+v -0.01958589 -0.01422762 0.00433851
+v -0.01915708 -0.01553410 0.00433850
+v -0.01866426 -0.01672768 0.00433850
+v -0.01645876 -0.01791204 0.00433849
+v -0.01492656 -0.01868395 0.00433849
+v -0.01179815 -0.01668505 0.00433850
+v -0.01162150 -0.01668505 0.00559446
+v -0.02099137 -0.01220913 0.00559448
+v -0.01133606 -0.01220913 0.00433852
+v -0.01143462 -0.01422762 0.00433851
+v -0.01119525 -0.01422762 0.00559447
+v -0.01105189 -0.01220913 0.00559448
+v -0.01142822 -0.01411356 0.00433851
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+f 1 7 9
+f 1 9 3
+f 1 3 10
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+f 1 19 23
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+f 1 24 20
+f 1 20 11
+f 1 11 4
+f 1 4 5
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+f 2 8 7
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+f 8 22 18
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+f 8 19 10
+f 11 20 12
+f 12 20 24
+f 12 24 21
+f 18 22 23
+f 18 23 19
+f 21 24 25
+f 22 25 24
+f 22 24 23
+
diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_14.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..623a3557a2b91e36da63c6140b1cb117362be517
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_14.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.02099247 -0.01220675 0.00559352
+v -0.02083321 -0.00646583 0.00559354
+v -0.02048814 0.00036297 0.00397628
+v -0.01918243 0.00036298 -0.00121501
+v -0.01918243 -0.00129345 -0.00121501
+v -0.01918117 -0.00388025 -0.00121502
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+v -0.01105119 -0.01220675 0.00559352
+v -0.02066257 -0.00129347 0.00559356
+v -0.02062465 -0.00017236 0.00559356
+v -0.02060569 0.00036296 0.00559356
+v -0.01840508 0.00036299 -0.00312969
+v -0.01840634 -0.00129344 -0.00312969
+v -0.01840508 -0.00388024 -0.00312970
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+v -0.00938525 -0.01220673 -0.00121506
+v -0.00807955 -0.00704792 0.00559353
+v -0.00807955 0.00036296 0.00559356
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+v -0.00807955 -0.00910430 0.00002081
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+v -0.01391286 -0.01220672 -0.00397555
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+v -0.00807955 -0.00886430 -0.00419967
+v -0.00807955 -0.00094026 -0.00121502
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+v -0.01391286 0.00036299 -0.00390224
+v -0.00807955 -0.00189153 -0.00302843
+v -0.01138235 0.00036299 -0.00394320
+v -0.00886322 0.00036299 -0.00322991
+v -0.00807955 -0.00680299 -0.00528575
+v -0.01138235 -0.01220672 -0.00378807
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+
diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_15.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1877845b1025ba9b9613d13b4636c15d269427ce
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_15.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.01382168 -0.02984078 -0.01231294
+v -0.01291736 -0.02845028 -0.01230689
+v -0.01261811 -0.02845028 -0.01230689
+v -0.01257886 -0.02974747 -0.01231142
+v -0.01258377 -0.03105222 -0.01231142
+v -0.01391325 -0.03105222 -0.01231142
+v -0.01521494 -0.03104465 -0.01230538
+v -0.01521494 -0.03076470 -0.01230538
+v -0.01460334 -0.02904044 -0.01229331
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+v -0.02296783 -0.02397782 -0.00698232
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+v -0.01131315 -0.02974748 -0.01201856
+v -0.02150425 -0.02397782 -0.00682229
+v -0.01897283 -0.02397783 -0.00654301
+v -0.00973019 -0.03128342 -0.01041228
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+v -0.02171684 -0.02998119 -0.01079271
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+v -0.02296783 -0.02514890 -0.00822174
+v -0.02296783 -0.02397785 0.00033348
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+v -0.00925596 -0.02752638 -0.00860673
+v -0.00626502 -0.03256635 0.00124829
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+v -0.01538665 -0.02397786 0.00265684
+v -0.02296783 -0.02446293 0.00005268
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+v -0.02296783 -0.02945830 -0.00500167
+v -0.02296783 -0.03001400 -0.00614297
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+
diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_16.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..192ceb42badd6c6818dda71d6997588d1da4f720
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_16.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.00125971 0.01200923 -0.00367874
+v 0.00151636 0.01116686 -0.00377035
+v -0.00125971 0.01181660 -0.00614294
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+
diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_17.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6732f3ceacdbdb6456a658a21a42b71dc38645c3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_17.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.02179676 0.00036421 0.00101024
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+
diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_18.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2404ba3eae54d509961fbec8b5ed3a8b71d90ea3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_18.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.02090438 -0.07874431 0.00559436
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+
diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_19.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0015131299d16faefa86113edaafb2bc677bb232
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_19.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_2.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2a0c8031341298598ef056f587d0442b5d9590f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_2.obj
@@ -0,0 +1,751 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_20.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f24cab8aeac3a0213e5bfc0fc0f0eea1abfd017f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_20.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_21.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7ad7e67111059372f266ea749ac64e84b496289
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_21.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_22.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fc6d52d94657194e357307462ebf6f51d2461f6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_22.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_3.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f5d890663ff849be13b87f46e7affd6c1d0e099
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_3.obj
@@ -0,0 +1,613 @@
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diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_4.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f5501cc3b4bfffe766f8c692a2e384c6e4c716f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_4.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_5.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8ea3a80dfc436b458412a999db5ae740bb4ca6c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_5.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_6.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfcfe664815fe4e3320f806b279005d89a1b952a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_6.obj
@@ -0,0 +1,241 @@
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diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_7.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0da17d5ea39109b58175a6e796171c9ad7180b28
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_7.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_8.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..253b0e8b336bea4a12b59da587c7ed64783084a1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_8.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_9.obj b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ae0f7b59babbcd6153f1f989d77b401c80b575d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/glasses_collision_9.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec075e7a91283dba60910f754b485c8dc9d1bfcc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c728ae6a4b5ca5d94229f1fb774ce050f18d33210930dd3e8f968b28fa31732c
+size 2253105
diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/textures/material_0.png b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec075e7a91283dba60910f754b485c8dc9d1bfcc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c728ae6a4b5ca5d94229f1fb774ce050f18d33210930dd3e8f968b28fa31732c
+size 2253105
diff --git a/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/video.mp4 b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..87809cfbf252c190dd24908c1845d3ce005453f9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/7ea12d4cda7752c7a046bb2d9d70e331/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af1723b03e3b73caed3faa5b3b15c37a5b2fead75cd783f407a715fffbe13288
+size 175338