diff --git a/.gitattributes b/.gitattributes
index 406926f0bb0924f3930f5b169098a31d1337a0ca..e766871704c2ec7740a6c42a800843cc9d1dab06 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2894,15 +2894,6 @@ dataset/desktop_supplies/decorations/528a0058fcc152419eb85665ebc6c13a/mesh/mouse
 dataset/desktop_supplies/decorations/4fd5f203e25058d8b78b0826d728ad2c/4fd5f203e25058d8b78b0826d728ad2c.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/4fd5f203e25058d8b78b0826d728ad2c/mesh/chess_pawn.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/4fd5f203e25058d8b78b0826d728ad2c/mesh/chess_pawn_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/5cded2fad37c5d1588ec269ce025c55f.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mesh/thermos.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/5cded2fad37c5d1588ec269ce025c55f/mesh/thermos_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/5cca654b2a195b4090d33f35dbfeab1a/5cca654b2a195b4090d33f35dbfeab1a.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/5cca654b2a195b4090d33f35dbfeab1a/mesh/glasses.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/5cca654b2a195b4090d33f35dbfeab1a/mesh/glasses_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/64628e2e4a53529291c2731dcac25b9b/64628e2e4a53529291c2731dcac25b9b.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/64628e2e4a53529291c2731dcac25b9b/mesh/tennis_ball.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/64628e2e4a53529291c2731dcac25b9b/mesh/tennis_ball_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/65720f91a8f950a2883e7cc2784f24bb/65720f91a8f950a2883e7cc2784f24bb.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/65720f91a8f950a2883e7cc2784f24bb/mesh/mouse_pad.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/65720f91a8f950a2883e7cc2784f24bb/mesh/mouse_pad_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/510d2b9d168a5520a57b1bfa40bc3311.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mesh/teacup.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mesh/teacup_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/510d2b9d168a5520a57b1bfa40bc3311.urdf b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/510d2b9d168a5520a57b1bfa40bc3311.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ddf5d59d48921158dac8e1b7a6b9eff8b216ddb2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/510d2b9d168a5520a57b1bfa40bc3311.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="teacup">
+   <link name="teacup">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/teacup.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/teacup_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>0.228847</scale>
+         <version>v0.1.7</version>
+         <category>teacup</category>
+         <description>dark ceramic teacup with a spout and a curved handle</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120050943</generate_time>
+         <gs_model>mesh/teacup_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.717660903930664</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/510d2b9d168a5520a57b1bfa40bc3311.usd b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/510d2b9d168a5520a57b1bfa40bc3311.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b41fd87018fdd564e3fbed17a19486c0380264d3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/510d2b9d168a5520a57b1bfa40bc3311.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1261b3e96f33177b8390419a9dcc712b21e67587c7d6dee3213eb73edd1f01aa
+size 386517
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mesh/material.mtl b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/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/510d2b9d168a5520a57b1bfa40bc3311/mesh/material_0.png b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8313f793e38b59e31a655b4ed0962e40124ed6b3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86dc95b5bf7f5e7391df3335bf2c5d40b5175c2eb2a7cb57fce560b39076a2a1
+size 1506013
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mesh/teacup.glb b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mesh/teacup.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c59a07e283ed96acea7d750ef3e62a8f4926977c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mesh/teacup.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74dc4fee4ae33c8081496b98de08e8080cc3cd203380c2a5fd1cdba96b41ebfc
+size 1766980
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mesh/teacup.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mesh/teacup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f8d970d139442ca8561fcbdd8bc171a634fe908
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mesh/teacup.obj
@@ -0,0 +1,23770 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mesh/teacup_collision.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mesh/teacup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e54e61364b6ea5167115d8da97ff4f8f28e1531a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mesh/teacup_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mesh/teacup_gs.ply b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mesh/teacup_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f569a3d8c0f996dde45888bea6c4d379c1f90344
--- /dev/null
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/510d2b9d168a5520a57b1bfa40bc3311.xml b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/510d2b9d168a5520a57b1bfa40bc3311.xml
new file mode 100644
index 0000000000000000000000000000000000000000..583512041a82837250258f926087788f6c5c8682
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/510d2b9d168a5520a57b1bfa40bc3311.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+  </asset>
+  <worldbody>
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+  </worldbody>
+</mujoco>
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/material_0.png
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+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:86dc95b5bf7f5e7391df3335bf2c5d40b5175c2eb2a7cb57fce560b39076a2a1
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup.obj
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--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d92d03b3a62f0a713def7fb0296f525732a5f25
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision.obj
@@ -0,0 +1,13791 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_0.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78068df7d3d710b2362e72f179c1ef67076ee21f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_0.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_1.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..806c0d8b1616a8cd4dbd443fb7ac56cd91f9ea16
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_1.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_10.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bc9f5274db4a9aa5f93faebf5f07dbbac4e41e5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_10.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_11.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c082778e8937cc5892f06b1834093854418199c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_11.obj
@@ -0,0 +1,340 @@
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_12.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d2b2004f36561ae7a143b94040a8866c8d65908
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_12.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_13.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a39201a9892d9dc51ae1daa3601115a25c754b6e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_13.obj
@@ -0,0 +1,568 @@
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_14.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58035d7c1e03aef4f501b36384a4840f90fc380d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_14.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_15.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..471e6f9343c742414cec4524514077df3e312c26
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_15.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_16.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ab164d2cb8a9e050c0d402111733d698bd44d0e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_16.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_17.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..546cce63ef90676ea1e46d8cf7b46a75f1131d05
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_17.obj
@@ -0,0 +1,814 @@
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_18.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..458db127f8f286d25e7b68fce5805f87d61476f6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_18.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_19.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f16c6e481a02297f5c923aa3db9e95cfeaf773f1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_19.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_2.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9500e839b487db13d5b8cfd09d9c275d1a915827
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_2.obj
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_20.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ad1e0318b56e30ce1f82d9be8b7db32d73b6a04
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_20.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_21.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e67083647f1b26aa06e52f67fc194d252e254216
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_21.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_22.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52f1fef40ea90853ba7621a7c7eca43aa666a6cc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_22.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_23.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f08da22060da41a8e613e10b42a05c7ce2acfb90
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_23.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_24.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1659c7e40e5663ff3f2ada39779602bf8597d25f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_24.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_25.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe5ec632d7c4e607974dfd71487037ca82bf3aa7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_25.obj
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_26.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62dd4355c8eb2c894bac07c739ad3762077f5f4c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_26.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_27.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddaf3f4d7a99b05d7b05bdba216f461e87b84a37
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_27.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_28.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed7f81647756ffb810135edb502fba16545da613
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_28.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_29.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c94703fe0d07daee851756e99f98c563e7887bb9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_29.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_3.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b33da88127d680eae40890de390905559e4cebcf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_3.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_30.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b4f2fb27044021ab55b83a71d41bdfb0be47a2f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_30.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_31.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ba02bdbd3046c40fa07bf40f26e9a89cad9977f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_31.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.05541328 0.02188957 -0.02466778
+v 0.05455981 0.02320196 -0.02466777
+v 0.03837822 0.02188957 -0.02466778
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+
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_32.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27492b1a815755bcf34f7db286db727d695ef842
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_32.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v -0.04068257 0.02128518 -0.01663089
+v -0.04068257 0.03617953 -0.01663084
+v -0.02657083 0.03593446 -0.01663084
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+
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_33.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23ee05c31cdd4f4f55eaaa413a6aee991d1fa409
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_33.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.00530382 -0.03075642 -0.04208948
+v 0.00530382 -0.04549425 -0.04290366
+v 0.00530382 -0.03075644 -0.03626653
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+
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_34.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b654a7f771c60fd2ff0b02e2ac3738aeea1a48e9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_34.obj
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_35.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63ffd2ec6ddc90c0aee066015eb6b8cc4ab54849
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_35.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_36.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9156e2cafac00839d8573025d65ef63c64b81a0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_36.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_37.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..855d4940b77eddd1ea2f1a082bdba3dd3742089b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_37.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_38.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a8d606793266ea43e9936c5009459e4c637e72b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_38.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.00898738 0.04473683 -0.01663081
+v -0.00898738 0.05405625 -0.01663077
+v 0.00530382 0.04883610 -0.01663079
+v 0.00530382 0.05370162 0.02378968
+v -0.00898738 0.05114303 0.02378967
+v 0.00530382 0.06496587 -0.01663073
+v -0.00898738 0.05556327 -0.01310150
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+
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_39.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4304d2ab8d305cf0142e918e996b9a10e157779
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_39.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.03890033 0.02188731 -0.02450760
+v 0.03890033 0.00076659 -0.02710720
+v 0.03890033 0.02188737 -0.04099522
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+
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_4.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e69cc71174f68d09c32d697532a8df337234fee
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_4.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v 0.01654908 0.06997224 0.04734310
+v 0.01719196 0.06997224 0.04732567
+v 0.01347465 0.06997224 0.04728035
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+
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_40.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6863d6ca44563ba6f7ebe4bcf97b0eb47a5012c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_40.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
+v 0.00530382 0.09345051 0.03471330
+v 0.00530382 0.09345046 0.04935287
+v 0.00908421 0.09345052 0.03318907
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_41.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b825b2c390d0f9063346057390180781e45eca6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_41.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_42.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..599ad78cd13e3996637f42db95cf62bb359a8e7c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_42.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_43.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12abc1a8f794d15344110a6bec8089517c05545f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_43.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_44.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23300ef099cb5e81f2ea6e0fc965a2cf436a579d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_44.obj
@@ -0,0 +1,682 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_45.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e60613521964df5187ec0cd92e5d25e98823eab
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_45.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_46.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dae94e11f6a9b8f0da616de5967a9b14330b976c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_46.obj
@@ -0,0 +1,157 @@
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+f 47 49 52
+f 47 52 51
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+f 51 52 53
+
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_47.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..094b71f9e70d4c04c8c84d852a518a125be7178a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_47.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.02994422 -0.03053063 -0.04958550
+v -0.02994422 -0.03094842 -0.04965913
+v -0.02994422 -0.03053065 -0.04288965
+v -0.02911453 -0.03053063 -0.04933460
+v -0.02009210 -0.04122791 -0.04926601
+v -0.02354502 -0.04122791 -0.05019244
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+v -0.02994422 -0.03502796 -0.04994651
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+v -0.02363505 -0.03053065 -0.04288965
+v -0.01190995 -0.04122793 -0.04288969
+v -0.01920239 -0.04122791 -0.04879279
+v -0.02503140 -0.04122791 -0.04998299
+v -0.02757519 -0.04122791 -0.04953908
+v -0.02885680 -0.03985619 -0.04949762
+v -0.02994422 -0.03847715 -0.04942041
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+v -0.02994422 -0.04122791 -0.04783920
+v -0.02829014 -0.04122791 -0.04928317
+v -0.02994422 -0.03925201 -0.04918379
+v -0.02994422 -0.04089492 -0.04809297
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+
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_48.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57aad1d10a8f09706af5f7a12748192d69190e33
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_48.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.02994422 -0.03053063 -0.04958505
+v -0.02920883 -0.03053063 -0.04936285
+v -0.02994422 -0.03053065 -0.04288965
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+v -0.02911498 -0.03053063 -0.04933402
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+v -0.02994422 -0.02741854 -0.04902594
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+v -0.02994422 -0.00861951 -0.04417818
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+f 5 9 7
+f 6 9 10
+f 8 10 9
+
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_49.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf7a1459f2e05a25f36672b01bc7a923614f4a45
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_49.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.04465382 0.04504328 -0.01052827
+v 0.04455367 0.04504328 -0.01085127
+v 0.04419541 0.04540307 -0.01052827
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+
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_5.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..898d30360b7b30ed339e801ce19968477afad8cd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_5.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v 0.02736605 0.04504148 -0.01324162
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+v 0.04977518 0.02651212 -0.01324169
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+f 100 103 101
+f 101 103 102
+f 103 109 108
+f 103 108 104
+f 104 108 107
+f 104 107 105
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+
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_50.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eb34cdd11c70e1d9bb4333647f3c51040fe31cc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_50.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.06348722 -0.03147492 -0.00973213
+v -0.06346598 -0.03147492 -0.00954042
+v -0.06227487 -0.02209242 -0.00182554
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+v -0.06040551 -0.03147489 -0.01892934
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+
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_51.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e1125674f3f2ccba913380473d3bcdae96544e2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_51.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.04523668 -0.04347569 -0.02285070
+v 0.02413384 -0.06147758 -0.02285077
+v 0.05198679 -0.04347571 -0.01509638
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+
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_6.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56cd5a5eeff4ddc25e3f06f884a778272a2560c0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_6.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00529882 0.05512963 -0.02589276
+v 0.00529882 0.03324250 -0.02589284
+v 0.00529882 0.03403069 -0.04871584
+v 0.00522883 0.03403069 -0.04871815
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+
diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_7.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bab7a7e1d1454c9f654cdd9b7e6fe8a35f57ee7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_7.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.04170388 0.01981707 -0.01663416
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+v -0.05193572 -0.00861961 -0.01663426
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_8.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94aede1820f039a493284ee71d70b59ef057044f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_8.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_9.obj b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..085a7c9d8f143dec4fa863757aab767d6abd7a46
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mjcf/mesh/teacup_collision_9.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/textures/material_0.png b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8313f793e38b59e31a655b4ed0962e40124ed6b3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/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/510d2b9d168a5520a57b1bfa40bc3311/video.mp4 b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c00da900af782e78254b0a9dbaa00202a1257460
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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