diff --git a/.gitattributes b/.gitattributes
index 14ff7f1bdb3f68b88d079272fb5697c55be89273..a0269b2cde8947894370e2e580f45aaaa8bc0ab0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2954,4 +2954,5 @@ dataset/desktop_supplies/decorations/e05b6d8397895fdcaab2ac5be75c0dda/mesh/mouse
 dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/e97ca22cbeb35b928c2a72b58fa9ecef.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/chess_pawn.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/e97ca22cbeb35b928c2a72b58fa9ecef/mesh/chess_pawn_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/e4e17002a6d8591aa47e76b7eb71a51f/e4e17002a6d8591aa47e76b7eb71a51f.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mesh/vase_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/vase_004.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mesh/material.mtl b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0fa63709eca4e03f2a864ec38e6c05640416447a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl vase_004_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd vase_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mesh/material_0.png b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a6df2d076e547317554f064de3297e86af94db3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60756a70386a2bd810f95596910dfeb021ded7312807cdb6e65057d1fd611c6e
+size 13176839
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mesh/vase_004.glb b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mesh/vase_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f733f83451d074b855d5b58efe7ee5ec70bf9c82
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mesh/vase_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7895f3821e99172087fdf43aaf1ed13a1cd3631891d3b5dfdb28f1bde21dd769
+size 16676392
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mesh/vase_004.mtl b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mesh/vase_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..efd66632fd577239c18414985d9331d10ef7c514
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mesh/vase_004.mtl
@@ -0,0 +1,6 @@
+newmtl vase_004_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/ce94120c32e050339438d5d6c6e0cf9b/mesh/vase_004.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mesh/vase_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..069807ec5b63b0c433c900800543638086ecc973
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mesh/vase_004.obj
@@ -0,0 +1,119154 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl vase_004_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mesh/vase_004_collision.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mesh/vase_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbdc8fad7d3b73a0bb5381cf2c9b4b11f563d864
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mesh/vase_004_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mesh/vase_004_geometry_Looks_material_0.png b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mesh/vase_004_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004.obj
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index 0000000000000000000000000000000000000000..df6cfb471b5d961215953ac19294ba298f44de01
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+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004.obj
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diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edd2b5e98185424e0e76d8c9c6efbdf9c0bd46f5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision.obj
@@ -0,0 +1,14182 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_0.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1665d1c5c03f034bebedf728aa292684e88c91a2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_0.obj
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+f 71 82 72
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_1.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27797dfc6118e807879090ee0aa11ecedead8884
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_1.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.01747757 0.00204184 -0.03194770
+v 0.01203858 0.01289446 -0.02359662
+v 0.01203647 0.01289449 -0.03194451
+v 0.01244233 0.01250356 -0.03194766
+v 0.02023512 0.00204184 -0.03194770
+v 0.01748709 0.00204173 -0.00152154
+v 0.01748814 0.00204172 0.00024636
+v 0.01205549 0.01289439 -0.00608464
+v 0.01269282 0.01289449 -0.03194766
+v 0.02039260 0.00212788 -0.03194770
+v 0.02039895 0.00204184 -0.03194455
+v 0.02268827 0.00204172 0.00024636
+v 0.01206395 0.01289437 0.00024640
+v 0.01206289 0.01289437 0.00000060
+v 0.01636145 0.01289449 -0.03194766
+v 0.02099823 0.00665974 -0.03194769
+v 0.02117579 0.00665974 -0.03159159
+v 0.02109441 0.00572915 -0.03144348
+v 0.02138401 0.00204182 -0.02738141
+v 0.01783270 0.01022370 0.00024639
+v 0.02283413 0.00204174 -0.00607837
+v 0.02112823 0.00777092 -0.03146868
+v 0.01989902 0.00961715 -0.01216988
+v 0.01892452 0.01119045 -0.01064778
+v 0.01605600 0.01289437 0.00024640
+v 0.01985145 0.00918487 -0.03194768
+v 0.01654113 0.01289449 -0.03161677
+v 0.02062407 0.00821603 -0.03194768
+v 0.02270624 0.00204175 -0.00857423
+v 0.02152141 0.00204181 -0.02585932
+v 0.02140303 0.00204182 -0.02729318
+v 0.01724082 0.01119041 0.00024639
+v 0.01821954 0.01237175 -0.01064777
+v 0.01985251 0.00918487 -0.03194453
+v 0.01724610 0.01289448 -0.02939823
+v 0.01730741 0.01289448 -0.02895704
+v 0.02068960 0.00845823 -0.03042243
+v 0.01821426 0.01238875 -0.01369196
+v 0.01946250 0.01043197 -0.01521092
+v 0.01990747 0.00967666 -0.01521092
+v 0.01990853 0.00963841 -0.01369197
+v 0.01651788 0.01230053 0.00024640
+v 0.01788027 0.01289441 -0.01064777
+v 0.01994552 0.00906695 -0.03194768
+v 0.01688886 0.01289448 -0.03061465
+v 0.01659715 0.01217943 0.00024639
+v 0.01787921 0.01289442 -0.01369196
+f 1 2 3
+f 1 3 4
+f 1 4 9
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+f 1 15 26
+f 1 26 44
+f 1 44 28
+f 1 28 16
+f 1 16 10
+f 1 10 5
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+f 1 11 19
+f 1 19 31
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+f 1 29 21
+f 1 21 12
+f 1 12 7
+f 1 7 6
+f 1 6 2
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+f 2 15 9
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+f 3 9 4
+f 5 10 11
+f 7 12 20
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+f 7 42 25
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+f 10 16 11
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+f 15 27 26
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+f 22 34 35
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+f 22 39 40
+f 22 40 41
+f 22 41 23
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+f 34 45 35
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+f 37 47 38
+f 38 47 43
+f 39 41 40
+f 42 46 43
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_10.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38155f177ad65d7aa640212af8f2120ec650be8c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_10.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00681536 0.01571912 -0.04203612
+v 0.00697660 0.01723373 -0.04203612
+v 0.00705226 0.01723374 -0.04259486
+v 0.00725256 0.01723374 -0.04363364
+v 0.00768356 0.01723375 -0.04563672
+v 0.00795890 0.01723375 -0.04679284
+v 0.00696730 0.01450576 -0.04203613
+v 0.00707768 0.01779252 -0.04203611
+v 0.00732512 0.01800285 -0.04338360
+v 0.00806061 0.01874421 -0.04679283
+v 0.00851641 0.01617727 -0.04679284
+v 0.00722776 0.01418159 -0.04203613
+v 0.00721225 0.01845334 -0.04203611
+v 0.00735365 0.01893993 -0.04203611
+v 0.00742682 0.01918427 -0.04203611
+v 0.00861873 0.01970143 -0.04679283
+v 0.00882338 0.01599749 -0.04679284
+v 0.00767116 0.01374845 -0.04203613
+v 0.00814122 0.02000683 -0.04203611
+v 0.00823921 0.02002211 -0.04259485
+v 0.00960414 0.02044554 -0.04259484
+v 0.00936104 0.01992702 -0.04679283
+v 0.00960414 0.01557475 -0.04679284
+v 0.00847982 0.01339652 -0.04203613
+v 0.00960414 0.02047537 -0.04203610
+v 0.01069620 0.02009362 -0.04679283
+v 0.00960414 0.01996103 -0.04679283
+v 0.01109867 0.01564556 -0.04679284
+v 0.00910430 0.01338402 -0.04203613
+v 0.01067016 0.02008041 -0.04203611
+v 0.01099139 0.02003739 -0.04679283
+v 0.01208346 0.01625848 -0.04679284
+v 0.01084256 0.01458073 -0.04259487
+v 0.00946522 0.01361379 -0.04203613
+v 0.01122890 0.01985898 -0.04203611
+v 0.01121340 0.01989509 -0.04679283
+v 0.01183912 0.01955633 -0.04203611
+v 0.01241585 0.01593362 -0.04259486
+v 0.01242081 0.01582532 -0.04203612
+v 0.01168161 0.01511799 -0.04203612
+v 0.01096968 0.01457170 -0.04203613
+v 0.01237306 0.01698178 -0.04679284
+v 0.01308312 0.01723374 -0.04259486
+v 0.01315010 0.01723373 -0.04203612
+v 0.01196315 0.01945499 -0.04203611
+v 0.01227632 0.01866785 -0.04679283
+v 0.01245306 0.01723375 -0.04679284
+v 0.01234268 0.01837284 -0.04679283
+v 0.01271476 0.01830757 -0.04203611
+v 0.01244996 0.01886635 -0.04203611
+v 0.01243136 0.01885873 -0.04253013
+f 1 2 3
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+f 1 4 5
+f 1 5 6
+f 1 6 7
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+f 1 18 24
+f 1 24 29
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+f 1 15 14
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+f 49 51 50
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_11.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ba4bf97d2431161470a9dfa9edfa09080eeddb3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_11.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.02204464 -0.00325793 -0.00608470
+v 0.02192619 -0.00325793 -0.00452163
+v 0.02173756 -0.00542731 -0.00608471
+v 0.02105927 -0.00646978 -0.02824491
+v 0.02140332 -0.00325786 -0.02585934
+v 0.02120413 -0.00655556 -0.00505107
+v 0.02103738 -0.00325794 -0.00162240
+v 0.01869315 -0.01021371 0.00024631
+v 0.02134296 -0.00675883 -0.00608471
+v 0.01965363 -0.01049337 -0.02763042
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+v 0.01955479 -0.00645206 -0.03194773
+v 0.01984150 -0.00542721 -0.03194773
+v 0.02017197 -0.00391651 -0.03194772
+v 0.02026704 -0.00325783 -0.03194457
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+v 0.02119583 -0.00325785 -0.02721757
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+v 0.01876860 -0.01049347 -0.00086296
+v 0.01779303 -0.01049335 -0.03194460
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+v 0.01821479 -0.00971073 -0.03194775
+v 0.01880934 -0.00844791 -0.03194774
+v 0.01899193 -0.00325783 -0.03194772
+v 0.02106153 -0.00449446 -0.02824491
+v 0.01863958 -0.01049347 0.00000051
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+v 0.01434118 -0.01049347 0.00024631
+v 0.01616707 -0.01049335 -0.03194775
+v 0.01732976 -0.00325783 -0.03194772
+v 0.01433741 -0.01049345 -0.00608473
+v 0.01435476 -0.01049335 -0.03194775
+v 0.01433816 -0.01049344 -0.00912577
+v 0.01433741 -0.01049344 -0.00804801
+f 1 2 3
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+f 1 33 30
+f 1 30 20
+f 1 20 7
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+f 17 28 18
+f 19 21 29
+f 19 29 22
+f 23 32 24
+f 30 34 31
+f 30 33 34
+f 33 35 36
+f 33 36 37
+f 33 37 34
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_12.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..722eab307e53f1f1614bb3549c53b053042fad6c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_12.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.00022389 -0.02903636 0.03509543
+v 0.00050188 -0.02903753 0.03509293
+v -0.00022389 -0.02903636 0.03619470
+v -0.00022389 -0.02887919 0.03473130
+v 0.00050188 -0.02903753 0.03619969
+v -0.00022389 -0.02870455 0.03433469
+v 0.00050188 -0.02870105 0.03433219
+v 0.00201854 -0.02901657 0.03530154
+v 0.00204918 -0.02901308 0.03655570
+v 0.00353615 -0.02892926 0.03747009
+v 0.00257580 -0.02889433 0.03735267
+v -0.00022389 -0.02870222 0.03659131
+v -0.00022389 -0.02834362 0.03420978
+v 0.00955779 -0.02639463 0.03527470
+v 0.00317231 -0.02894555 0.03554451
+v 0.00050188 -0.02794660 0.03408424
+v 0.00810145 -0.02163975 0.03307369
+v 0.00884925 -0.02130677 0.03307369
+v 0.00955779 -0.02098193 0.03307369
+v 0.00362137 -0.02897349 0.03645640
+v 0.00453386 -0.02890597 0.03745698
+v 0.00504420 -0.02853574 0.03799226
+v 0.00505186 -0.02776499 0.03908340
+v -0.00022389 -0.02839137 0.03695482
+v 0.00404266 -0.02760665 0.03893850
+v -0.00022389 -0.02794893 0.03408050
+v 0.00955779 -0.02715141 0.03652636
+v 0.00418342 -0.02876625 0.03591176
+v 0.00453386 -0.02890597 0.03692483
+v 0.00050188 -0.02339896 0.03307368
+v 0.00125351 -0.02332794 0.03307368
+v 0.00199173 -0.02325342 0.03307368
+v 0.00339923 -0.02302639 0.03307369
+v 0.00624776 -0.02229174 0.03307369
+v 0.00662884 -0.02217647 0.03307369
+v 0.00772133 -0.02178062 0.03307369
+v 0.00955779 -0.01714450 0.03307371
+v 0.00911256 -0.02743900 0.03764561
+v 0.00656947 -0.02818296 0.03803473
+v 0.00656947 -0.02767418 0.03909089
+v 0.00656947 -0.02657627 0.03945378
+v 0.00505186 -0.02657627 0.03934448
+v -0.00022389 -0.02763692 0.03737642
+v 0.00396798 -0.02657627 0.03897972
+v -0.00022389 -0.02657627 0.03750570
+v -0.00022389 -0.02708040 0.03744512
+v -0.00022389 -0.02339547 0.03307368
+v 0.00955779 -0.02715141 0.03660256
+v 0.00911256 -0.02743900 0.03695482
+v -0.00022389 -0.01984211 0.03307370
+v 0.00955779 -0.01732729 0.03342722
+v 0.00955779 -0.02672763 0.03810218
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+v 0.00873052 -0.02718984 0.03865931
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+v 0.00771941 -0.02748556 0.03894849
+v 0.00903596 -0.02618275 0.03889915
+v 0.00903596 -0.02549466 0.03889916
+v 0.00812060 -0.02502080 0.03905405
+v 0.00656947 -0.02506505 0.03928016
+v 0.00816943 -0.02664147 0.03909152
+v 0.00505186 -0.02503594 0.03904781
+v 0.00411065 -0.02552028 0.03889791
+v -0.00022389 -0.02506505 0.03743888
+v -0.00022389 -0.01991197 0.03320236
+v 0.00955779 -0.01738550 0.03351966
+v -0.00022389 -0.02012852 0.03359959
+v 0.00955779 -0.02667058 0.03815714
+v 0.00955779 -0.02504060 0.03848256
+v 0.00955779 -0.02502895 0.03848256
+v 0.00955779 -0.02359923 0.03808783
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_13.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a38cae83c6c05676f2d7d4f5f68a2a5525fee0e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_13.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01827531 0.01364808 0.03307319
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_14.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a4bb98061f044450449db9010050458a169d988
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_14.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00048887 0.02310959 0.03307322
+v 0.00048887 0.02154609 0.02449462
+v 0.00035003 0.02154706 0.02449462
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_15.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eac22fbe69fada1bf3f8002a8089e29dc5ef6122
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_15.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_16.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b90eed28156b260864b034a8b52e6fab81524bfd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_16.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_17.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd21667ade861a761b15c35dd3487acabf97b559
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_17.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_18.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc02ad0dea430535455cbdc50c278aaaf78b3deb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_18.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_19.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98f35319d48250fb6e94eca7f4f19652b3660303
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_19.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_2.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba4751d7f9a9fceafb6df0cd0fd012e55286d1ac
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_2.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v 0.00166109 -0.00388716 -0.03463932
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+v 0.00166109 -0.00388715 -0.03826497
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diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_20.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd3cb81e7c0c4dbdd94f5d6988621c212dd36b07
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_20.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_21.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46331ecd8f268477f8328ed52fde8e154c89b430
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_21.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_22.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ed51da835ba617a176d6a30f24eace88e8f51b7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_22.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.00893574 -0.01548039 0.02449448
+v 0.00893574 -0.02008717 0.02449447
+v 0.00893574 -0.01547751 0.02436393
+v -0.00275298 -0.01780784 0.02434256
+v -0.00275298 -0.01781215 0.02449447
+v 0.00808898 -0.02039535 0.02449447
+v 0.00893574 -0.02012884 0.02434256
+v -0.00275298 -0.01780209 0.02282112
+v -0.00275298 -0.01780281 0.02304186
+v 0.00893574 -0.01547751 0.02434257
+v -0.00275298 -0.01779704 0.01543700
+v -0.00275298 -0.02166898 0.02449446
+v 0.00453259 -0.02138452 0.02449446
+v 0.00808669 -0.02042983 0.02434255
+v 0.00808669 -0.02072506 0.02282111
+v 0.00893574 -0.02022079 0.02386785
+v 0.00893574 -0.01548677 0.00152563
+v -0.00275298 -0.01779985 0.00024628
+v -0.00275298 -0.01779914 0.00304707
+v -0.00275298 -0.01779844 0.00608759
+v -0.00275298 -0.01779702 0.01217337
+v -0.00275298 -0.02167186 0.02445411
+v -0.00253214 -0.02170418 0.02449446
+v 0.00368125 -0.02156769 0.02449446
+v 0.00738525 -0.02132201 0.02095312
+v 0.00893574 -0.02039103 0.02282112
+v 0.00893574 -0.01548748 0.00024629
+v -0.00275298 -0.02135928 0.00024627
+v -0.00253214 -0.02171424 0.02434255
+v -0.00275298 -0.02168048 0.02432119
+v -0.00238110 -0.02171496 0.02449446
+v 0.00123022 -0.02280896 0.01302784
+v 0.00201862 -0.02174513 0.02449446
+v 0.00128629 -0.02280896 0.01302784
+v 0.00893574 -0.02054402 0.01977822
+v 0.00893574 -0.02046933 0.02227994
+v 0.00518711 -0.02255318 0.00024627
+v 0.00549377 -0.02244328 0.00024627
+v 0.00636800 -0.02203238 0.00024627
+v 0.00893574 -0.01874808 0.00024628
+v -0.00250582 -0.02155611 0.00024627
+v -0.00275298 -0.02162657 0.01649797
+v -0.00101484 -0.02217820 0.00024627
+v 0.00122221 -0.02281542 0.01217336
+v -0.00101484 -0.02180906 0.02449446
+v 0.00050247 -0.02180906 0.02449446
+v 0.00131375 -0.02281542 0.01217336
+v 0.00893574 -0.02001671 0.00733370
+v 0.00130574 -0.02281039 0.01138297
+v 0.00353478 -0.02261927 0.00024627
+v 0.00893574 -0.01988740 0.00510257
+v -0.00235249 -0.02164303 0.00024627
+v -0.00079170 -0.02222849 0.00024627
+v 0.00124052 -0.02281039 0.01138297
+v 0.00201862 -0.02253738 0.00024627
+v 0.00074505 -0.02245046 0.00024627
+f 1 2 7
+f 1 7 16
+f 1 16 26
+f 1 26 36
+f 1 36 35
+f 1 35 48
+f 1 48 51
+f 1 51 40
+f 1 40 27
+f 1 27 17
+f 1 17 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 23
+f 1 23 31
+f 1 31 45
+f 1 45 46
+f 1 46 33
+f 1 33 24
+f 1 24 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 3 10 21
+f 3 21 11
+f 3 11 8
+f 4 9 8
+f 4 8 11
+f 4 11 21
+f 4 21 20
+f 4 20 19
+f 4 19 18
+f 4 18 28
+f 4 28 42
+f 4 42 30
+f 4 30 22
+f 4 22 12
+f 4 12 5
+f 6 13 14
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+f 10 19 20
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+f 18 38 37
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+f 18 53 43
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+f 18 52 41
+f 18 41 28
+f 22 29 23
+f 22 30 29
+f 23 29 32
+f 23 32 31
+f 24 33 34
+f 24 34 25
+f 25 35 36
+f 25 36 26
+f 25 34 37
+f 25 37 38
+f 25 38 39
+f 25 39 35
+f 28 41 42
+f 29 30 32
+f 30 42 43
+f 30 43 44
+f 30 44 32
+f 31 32 45
+f 32 34 46
+f 32 46 45
+f 32 44 47
+f 32 47 34
+f 33 46 34
+f 34 47 37
+f 35 39 48
+f 37 47 49
+f 37 49 50
+f 39 40 51
+f 39 51 48
+f 41 52 42
+f 42 52 43
+f 43 53 44
+f 44 53 54
+f 44 54 49
+f 44 49 47
+f 49 54 50
+f 50 54 55
+f 53 56 54
+f 54 56 55
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_23.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d40c7400fc1459e44863e102f4ec1b7843572495
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_23.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.00050280 0.02311059 0.03307322
+v 0.00199494 0.02296239 0.03307322
+v 0.00201932 0.02146931 0.02449462
+v 0.00186784 0.02147765 0.02449462
+v 0.00050280 0.02154619 0.02449462
+v 0.00048887 0.02154619 0.02449462
+v 0.00048887 0.02310966 0.03307322
+v 0.00245285 0.02289107 0.03307322
+v 0.00430366 0.02115346 0.02449462
+v 0.00048887 0.01769765 0.02449461
+v 0.00048887 0.01959271 0.03307321
+v 0.00363159 0.02264376 0.03307322
+v 0.00456483 0.02111641 0.02461638
+v 0.00471108 0.02104602 0.02449462
+v 0.01111665 0.01364811 0.02449459
+v 0.01113929 0.01364811 0.02538721
+v 0.01115322 0.01364810 0.02586502
+v 0.00048887 0.01773654 0.02586504
+v 0.00048887 0.01954547 0.03307070
+v 0.00050280 0.01954640 0.03307321
+v 0.00490609 0.02234551 0.03307322
+v 0.00505408 0.02231031 0.03307322
+v 0.00654796 0.02192221 0.03307322
+v 0.00657060 0.02046712 0.02449462
+v 0.01649845 0.01364811 0.02449459
+v 0.01125943 0.01364810 0.02673917
+v 0.00048887 0.01788103 0.02752265
+v 0.01134300 0.01364810 0.02738659
+v 0.00048887 0.01942506 0.03285405
+v 0.01375271 0.01364808 0.03307319
+v 0.00782072 0.02146558 0.03307322
+v 0.00809233 0.01993175 0.02449461
+v 0.00793737 0.01998732 0.02449461
+v 0.01589254 0.01434001 0.02449459
+v 0.01685538 0.01539497 0.03307320
+v 0.01822912 0.01371570 0.03307319
+v 0.01827613 0.01364808 0.03307319
+v 0.00048887 0.01789400 0.02760830
+v 0.01161113 0.01364810 0.02849923
+v 0.01183922 0.01364809 0.02921215
+v 0.01229191 0.01364809 0.03042807
+v 0.00048887 0.01904438 0.03194967
+v 0.01333310 0.01364808 0.03247027
+v 0.00048887 0.01903975 0.03193707
+v 0.00048887 0.01851272 0.03042809
+v 0.00960362 0.02067920 0.03307322
+v 0.00896463 0.01955940 0.02449461
+v 0.01512471 0.01518567 0.02449460
+v 0.01613978 0.01609522 0.03307320
+v 0.00048887 0.01791623 0.02774266
+v 0.01292393 0.01364808 0.03177414
+v 0.00048887 0.01810703 0.02884269
+v 0.00048887 0.01806905 0.02863696
+v 0.00048887 0.01850902 0.03041381
+v 0.01093210 0.02001786 0.03307321
+v 0.00969938 0.01914444 0.02449461
+v 0.01430464 0.01595168 0.02449460
+v 0.01532319 0.01689271 0.03307320
+v 0.01108531 0.01833953 0.02449461
+v 0.01100871 0.01838585 0.02449461
+v 0.01271326 0.01891470 0.03307321
+v 0.01176783 0.01792180 0.02449461
+v 0.01356467 0.01661579 0.02449460
+v 0.01444045 0.01760314 0.03307320
+v 0.01265058 0.01728825 0.02449460
+v 0.01254263 0.01736605 0.02449460
+v 0.01371440 0.01818019 0.03307321
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 11
+f 1 11 20
+f 1 20 30
+f 1 30 37
+f 1 37 36
+f 1 36 35
+f 1 35 49
+f 1 49 58
+f 1 58 64
+f 1 64 67
+f 1 67 61
+f 1 61 55
+f 1 55 46
+f 1 46 31
+f 1 31 23
+f 1 23 22
+f 1 22 21
+f 1 21 12
+f 1 12 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 14
+f 3 14 24
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+f 3 60 59
+f 3 59 62
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+f 3 15 10
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+f 10 17 18
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+f 12 21 13
+f 13 21 22
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+f 15 25 37
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+f 15 40 39
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+f 15 26 17
+f 15 17 16
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+f 18 26 28
+f 18 28 27
+f 19 29 30
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+f 23 31 32
+f 23 32 33
+f 23 33 24
+f 25 34 35
+f 25 35 36
+f 25 36 37
+f 27 28 39
+f 27 39 40
+f 27 40 41
+f 27 41 38
+f 29 42 30
+f 30 42 44
+f 30 44 45
+f 30 45 43
+f 31 46 47
+f 31 47 32
+f 34 48 35
+f 35 48 49
+f 38 41 50
+f 41 51 52
+f 41 52 53
+f 41 53 50
+f 43 45 54
+f 43 54 52
+f 43 52 51
+f 46 55 47
+f 47 55 56
+f 48 57 58
+f 48 58 49
+f 55 59 60
+f 55 60 56
+f 55 61 62
+f 55 62 59
+f 57 63 58
+f 58 63 64
+f 61 65 66
+f 61 66 62
+f 61 67 65
+f 63 67 64
+f 63 65 67
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_24.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad27e03ccdeadac3e33223f7af001b69a904f770
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_24.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.00583406 -0.01686375 -0.03342963
+v -0.01294350 -0.01686375 -0.03342963
+v -0.01434325 -0.01100323 -0.03342961
+v -0.01450252 -0.01100335 -0.00000092
+v -0.01450387 -0.01100335 0.00024631
+v -0.00659265 -0.01686387 0.00024299
+v -0.01349692 -0.01642371 -0.03342963
+v -0.01465640 -0.01686378 -0.02436785
+v -0.01730607 -0.01548400 -0.02129562
+v -0.01830898 -0.01100323 -0.03342961
+v -0.01962099 -0.01100335 0.00024631
+v -0.00659670 -0.01686272 0.00024629
+v -0.00730535 -0.01686387 0.00024629
+v -0.01437834 -0.01566812 -0.03342963
+v -0.01527461 -0.01686381 -0.01673012
+v -0.01860324 -0.01401185 -0.02013198
+v -0.01860324 -0.01401184 -0.02092971
+v -0.01811191 -0.01450524 -0.02138131
+v -0.01660687 -0.01331875 -0.03342962
+v -0.01586718 -0.01417932 -0.03342962
+v -0.01584828 -0.01420113 -0.03342962
+v -0.01513693 -0.01495671 -0.03342962
+v -0.01551353 -0.01686383 -0.01064828
+v -0.01553243 -0.01685006 -0.01064828
+v -0.01551623 -0.01682712 -0.00912864
+v -0.01932404 -0.01100326 -0.02580506
+v -0.01804982 -0.01137729 -0.03342961
+v -0.01933348 -0.01146969 -0.02433816
+v -0.01546359 -0.01678639 -0.00794194
+v -0.01946711 -0.01118636 0.00024631
+v -0.01948331 -0.01100326 -0.02381404
+v -0.01269648 -0.01686387 0.00024629
+v -0.01947791 -0.01100326 -0.02430191
+v -0.01723453 -0.01253735 -0.03342962
+v -0.01721429 -0.01256316 -0.03342962
+v -0.01546494 -0.01686384 -0.00912864
+v -0.01534210 -0.01686384 -0.00785953
+v -0.01525167 -0.01686384 -0.00708818
+v -0.01541904 -0.01673246 -0.00692665
+v -0.01901763 -0.01165107 0.00024631
+v -0.01337813 -0.01632630 0.00024629
+f 1 2 7
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+f 1 14 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 35
+f 1 35 34
+f 1 34 27
+f 1 27 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
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+f 1 6 13
+f 1 13 32
+f 1 32 38
+f 1 38 37
+f 1 37 36
+f 1 36 23
+f 1 23 15
+f 1 15 8
+f 1 8 2
+f 2 8 9
+f 2 9 7
+f 3 10 26
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+f 3 33 31
+f 3 31 11
+f 3 11 5
+f 3 5 4
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+f 5 30 40
+f 5 40 41
+f 5 41 32
+f 5 32 13
+f 5 13 12
+f 5 12 6
+f 6 12 13
+f 7 9 14
+f 8 15 9
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 14
+f 9 15 23
+f 9 23 24
+f 9 24 25
+f 9 25 16
+f 10 27 17
+f 10 17 28
+f 10 28 26
+f 11 25 29
+f 11 29 30
+f 11 31 17
+f 11 17 16
+f 11 16 25
+f 17 31 33
+f 17 33 28
+f 17 27 34
+f 17 34 35
+f 17 35 19
+f 17 19 18
+f 23 36 25
+f 23 25 24
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+f 26 28 33
+f 29 36 37
+f 29 37 38
+f 29 38 39
+f 29 39 30
+f 30 39 40
+f 32 41 39
+f 32 39 38
+f 39 41 40
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_25.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b256c1895f622d8395139a01df4d0aff958f5e4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_25.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.00893574 -0.02054471 0.01977822
+v 0.01049580 -0.01987334 0.01977823
+v 0.00893574 -0.02046870 0.02227994
+v 0.00893574 -0.02001634 0.00733370
+v 0.01494947 -0.01678707 0.01673534
+v 0.01495831 -0.01679353 0.01825679
+v 0.01493952 -0.01677935 0.01977824
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+v 0.01044608 -0.01983985 0.02079411
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+v 0.00901529 -0.01986556 0.00514766
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+v 0.01644765 -0.01525871 0.00371642
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+v 0.01874906 -0.00997276 0.00024631
+v 0.01609410 -0.00738138 0.01065197
+v 0.01609852 -0.00738142 0.02282116
+f 1 2 3
+f 1 3 12
+f 1 12 34
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_26.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85b9e74e362716e38302a5f968ea422d28eef90c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_26.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+v -0.01300285 -0.01858769 0.00760903
+v -0.01276413 -0.01861765 0.00638665
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+v -0.01861310 -0.01232395 0.00061657
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_27.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c1db5a52943d1c323425dc17f2839c227607dd1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_27.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+v -0.00275413 -0.02166919 0.02449446
+v -0.00275413 -0.01780723 0.02436392
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_28.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8b2068e1fcb19f2c3c981d032e9c07630323425
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_28.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_29.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b992f90d5c2cc31cf0574170edbeb3e853f58d1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_29.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+v -0.01830992 -0.01100322 -0.03342961
+v -0.01769899 -0.00254416 -0.03342958
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_3.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f9c900048e7b02bf3a935fd41f0a17fefcb124a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_3.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+v -0.02179846 0.00320337 -0.03703796
+v -0.02172732 0.00320336 -0.03576500
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_30.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3110daa097c6067ae61fb903ae8a41598beff45b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_30.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+v 0.01954855 -0.01102295 -0.02835523
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+v 0.01850272 -0.01276957 -0.02737832
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+v 0.00909644 -0.01538726 -0.01064788
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_31.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ff8de11aebb8062bec6007f8c539739cb088f3c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_31.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_32.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4dcffa794f173d017b95bd2074b51ea8a7890c3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_32.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_33.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b6ad8fc0ee8ac766f6606b2fefcb1c8d4186045
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_33.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+f 45 57 58
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+f 45 60 52
+f 48 49 60
+f 49 52 60
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_34.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce0020eace84384d3bc58a6ed8248b8921e810f3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_34.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.01135745 -0.00497820 -0.03463820
+v 0.01135745 -0.01148319 -0.03460721
+v 0.01135745 -0.00497819 -0.03755559
+v 0.00166109 -0.00497820 -0.03463925
+v 0.01135745 -0.01148318 -0.03759135
+v 0.00166109 -0.01146919 -0.03463874
+v 0.00166109 -0.01148319 -0.03463874
+v 0.00810192 -0.01148317 -0.03949423
+v 0.00804497 -0.01148317 -0.03951894
+v 0.00649503 -0.01148317 -0.03997626
+v 0.00201891 -0.00497819 -0.03829151
+v 0.00166109 -0.00497819 -0.03826733
+v 0.00166109 -0.01148318 -0.03765338
+v 0.00647984 -0.01148317 -0.03997678
+v 0.00166109 -0.00507116 -0.03826785
+v 0.00166109 -0.00658152 -0.03812698
+v 0.00506658 -0.01148317 -0.03948529
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+f 1 4 2
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+f 4 13 7
+f 4 7 6
+f 10 14 11
+f 11 14 12
+f 12 14 15
+f 13 16 17
+f 14 17 15
+f 15 17 16
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_35.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06ba8cd80217ee53ea68b40bad8afffdbbd7d0e9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_35.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.00050113 0.00320336 -0.03463480
+v 0.00166109 0.00320336 -0.03463602
+v -0.00253217 0.00320336 -0.03463724
+v -0.00101552 0.00212687 -0.03463663
+v 0.00050113 -0.00388716 -0.03463908
+v 0.00052986 -0.00388716 -0.03463908
+v 0.00166109 -0.00388716 -0.03463969
+v 0.00166109 0.00320337 -0.03835533
+v -0.00209544 0.00320337 -0.03776314
+v -0.00253217 0.00320268 -0.03764750
+v -0.00253217 -0.00388647 -0.03464152
+v -0.00101552 -0.00388716 -0.03464030
+v 0.00166109 -0.00388715 -0.03826527
+v 0.00050113 0.00320337 -0.03831638
+v 0.00166109 0.00099488 -0.04059752
+v 0.00166109 0.00049238 -0.04084949
+v 0.00101708 0.00028069 -0.04052205
+v -0.00253217 0.00061522 -0.03826526
+v -0.00253217 -0.00388715 -0.03750997
+v -0.00250385 -0.00388716 -0.03464152
+v 0.00166109 -0.00162867 -0.04034069
+v 0.00163359 -0.00388715 -0.03826345
+v 0.00166109 -0.00045918 -0.04085253
+v 0.00101708 -0.00055843 -0.04052205
+v -0.00253217 -0.00089436 -0.03826405
+v -0.00253217 -0.00388715 -0.03757448
+v 0.00166109 -0.00127262 -0.04059934
+v 0.00050113 -0.00388715 -0.03818615
+v 0.00166109 -0.00077151 -0.04085253
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+f 21 22 28
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+f 24 26 25
+f 26 29 27
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_36.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f900c86b8a6c1498b281aef4aff14e38e111345c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_36.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.02055987 -0.00481790 0.01527804
+v -0.02345553 -0.00168930 0.02083591
+v -0.02345553 -0.00128927 0.02050659
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+v -0.01754029 -0.00481790 0.01527804
+v -0.02155867 -0.00481793 0.02449452
+v -0.02345553 -0.00209338 0.02151349
+v -0.02345553 -0.00196635 0.02125906
+v -0.02345553 -0.00081016 0.02039111
+v -0.02092638 -0.00240487 0.01527805
+v -0.01801740 0.00208534 0.01527807
+v -0.01802030 0.00208533 0.01830061
+v -0.01754261 -0.00481790 0.01764554
+v -0.01755882 -0.00481793 0.02449452
+v -0.02345553 -0.00220556 0.02449453
+v -0.02345553 -0.00229611 0.02319168
+v -0.02345553 -0.00226502 0.02283349
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+v -0.02092870 0.00208534 0.01527807
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+v -0.01803767 0.00208531 0.02434297
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+v -0.02345553 0.00194138 0.02449455
+v -0.02345553 0.00055954 0.02038118
+v -0.02103466 0.00061563 0.01527806
+v -0.02345553 0.00096767 0.02047050
+v -0.02345553 0.00130013 0.02056163
+v -0.02345553 0.00170421 0.02124465
+v -0.02345553 0.00200694 0.02283351
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+v -0.01802435 0.00208532 0.02134209
+v -0.01802783 0.00208532 0.02282178
+v -0.01755245 -0.00481793 0.02372941
+v -0.02315618 0.00208531 0.02449455
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+f 21 34 22
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+f 22 35 36
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+f 23 35 24
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+f 32 37 33
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_37.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b30c5f89349d3a3d8f18e57be50b9c0ca6f1e2b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_37.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.02279620 -0.00268563 0.03307313
+v 0.01932606 -0.00268563 0.03307313
+v 0.02271863 -0.00339974 0.03307313
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+v 0.01930021 -0.00268563 0.03302527
+v 0.01643604 -0.01021436 0.03266248
+v 0.01666550 -0.01021436 0.03307310
+v 0.02258209 -0.00433715 0.03307312
+v 0.02039498 -0.00693709 0.02449451
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+v 0.02233809 -0.00556934 0.03307312
+v 0.02202945 -0.00681037 0.03307311
+v 0.02199633 -0.00692681 0.03307311
+v 0.02162467 -0.00807056 0.03307311
+v 0.01928971 -0.00268563 0.03300260
+v 0.01603772 -0.01021436 0.03185971
+v 0.02055576 -0.01021436 0.03307310
+v 0.01964116 -0.00883696 0.02449451
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+v 0.01801234 -0.00268562 0.02936240
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+f 29 35 30
+f 31 36 32
+f 32 36 37
+f 33 37 38
+f 33 38 34
+f 36 39 37
+f 37 39 38
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_38.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68d2caf7352163a292780d32bb3de58b4022d8fd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_38.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.02768324 -0.00089446 -0.00608174
+v 0.02727803 -0.00185935 -0.00608175
+v 0.02725477 -0.00183859 -0.00760371
+v 0.02763905 -0.00089445 -0.00760370
+v 0.02766812 0.00061566 -0.00608174
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+v 0.02729663 -0.00089446 -0.00498905
+v 0.02715710 -0.00175197 -0.00518052
+v 0.02629145 -0.00220122 -0.00608175
+v 0.02629145 -0.00218097 -0.00760371
+v 0.02712571 -0.00172395 -0.00848664
+v 0.02762278 0.00061567 -0.00760370
+v 0.02725303 -0.00089445 -0.00868054
+v 0.02724198 0.00061567 -0.00866712
+v 0.02723850 0.00154581 -0.00760369
+v 0.02726349 0.00156862 -0.00608173
+v 0.02714548 0.00146280 -0.00518172
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+v 0.02174460 0.00172945 -0.00922321
+v 0.02174460 0.00084601 -0.01052567
+v 0.02174460 0.00171285 -0.00926590
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_39.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4f2a96fd2f08110d7683939e6d46a0284f92bcb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_39.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.00909644 -0.01539636 -0.00757123
+v 0.00166182 -0.01785992 -0.00757124
+v 0.00909644 -0.01866143 -0.00757124
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+v 0.00748433 -0.02139404 -0.02463602
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+v 0.00201844 -0.02195889 -0.01521233
+v 0.00909644 -0.01538857 -0.01216972
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+v 0.00685695 -0.01960885 -0.00757124
+v 0.00353594 -0.02199844 -0.01977265
+v 0.00748433 -0.02139404 -0.02535431
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+v 0.00683949 -0.01961534 -0.00757124
+v 0.00609857 -0.01987797 -0.00757124
+v 0.00353594 -0.02196731 -0.01825493
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+v 0.00909644 -0.01540665 -0.03194539
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+v 0.00688097 -0.01962173 -0.03194778
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+v 0.00909644 -0.01703302 -0.03194777
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+f 36 40 37
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_4.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f59be784b9abc35ca62df174a33b205c06d6137
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_4.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.01286763 0.00320337 -0.03786505
+v 0.00050061 0.00320337 -0.03831671
+v -0.01286763 0.00320336 -0.03463744
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_40.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..312c3122696d66776f6693431f0a0cf8a0db6cc7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_40.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.01274622 0.01474430 -0.03942159
+v 0.01272176 0.01469115 -0.03942159
+v 0.01118943 0.01474431 -0.04203587
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_41.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d7e802d573246c78a1477d35de7b41d048c664c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_41.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.03304218 0.00061568 0.01988593
+v -0.03302997 -0.00078909 0.01988593
+v -0.03301965 0.00061567 0.02130077
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diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_42.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e0371049a48d294718a78d90d1c5951cfb43ea6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_42.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_43.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33b19b709e93574c7f634d1ed65112da36c77882
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_43.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_44.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a5d44efbf8b821d6e7e2a0d48a891b9f0d35155
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_44.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_45.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64592bc49dc415b925e35d506e78b9a03040bb7d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_45.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_46.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39c8364dea469bd4c0194d8c12adf8a5f089d4b2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_46.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.03247285 -0.00089465 0.01869842
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_47.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b2804de3ce3e38bd5a487fd955f395332484118
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_47.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.00804548 -0.01754144 -0.04718740
+v 0.00805175 -0.01751155 -0.04718740
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_48.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4743a2505606d8c2b1aa23e8269afb64e274bfee
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_48.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.00099699 -0.02180905 0.02449446
+v -0.00099699 -0.01797848 0.02449447
+v 0.00050219 -0.02180905 0.02449446
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_49.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34a292ff73014bd4e97e29f178ba56224cd5a2b7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_49.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.01139771 -0.01414112 0.02449449
+v -0.01139771 -0.01874011 0.02449447
+v -0.01139771 -0.01417645 0.02583721
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_5.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5635d2274e5f3a61ba1d96ef1af364d97177b536
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_5.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.01243708 0.01744112 0.02449460
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_50.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff84b07b8a0f814b767664cbca4a4982d8f21f58
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_50.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.02552226 0.01348513 0.03732158
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+v 0.02552226 0.01348513 0.03727643
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+v 0.02464046 0.01270162 0.03909602
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+v 0.02325723 0.01348513 0.03938299
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+v 0.01391787 0.01348515 0.03307320
+v 0.02477437 0.00506919 0.03771491
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+v 0.01908472 0.01270162 0.03754300
+v 0.01630684 0.01348514 0.03582360
+v 0.01556322 0.01348514 0.03509812
+v 0.02082552 0.00506920 0.03589656
+f 1 2 5
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_51.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d8a4bef1140bec4146e36b98c4c05332b7bb947
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_51.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.01920670 -0.00388714 -0.03954685
+v -0.01920113 -0.00388714 -0.03954566
+v -0.02075678 -0.00388715 -0.03934361
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+v -0.01922131 -0.00243654 -0.04557142
+v -0.01571467 -0.00388715 -0.03776646
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+v -0.01817308 -0.00187296 -0.04557142
+v -0.01571467 -0.00163630 -0.04154593
+v -0.02200060 -0.00250387 -0.04249674
+v -0.02181198 -0.00201038 -0.04557142
+v -0.02123635 -0.00388715 -0.03852592
+v -0.02166024 -0.00388715 -0.03776527
+v -0.01571467 0.00320336 -0.03463352
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+v -0.01571467 -0.00122056 -0.04207243
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_52.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3bc5065f9c36bf098f8353dd9893d4c8045b31d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_52.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00493500 0.01246658 -0.03942159
+v 0.00496293 0.01257770 -0.03942159
+v 0.00496457 0.01121867 -0.03942160
+v 0.00166109 0.01121867 -0.03764603
+v 0.00166109 0.01154721 -0.03764530
+v 0.00166109 0.01474430 -0.03755530
+v 0.00547053 0.01399024 -0.03942159
+v 0.00812350 0.01121867 -0.03942160
+v 0.00166109 0.01121866 -0.03463627
+v 0.00166109 0.01474429 -0.03463406
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+v 0.01265244 0.01454345 -0.03942159
+v 0.01683970 0.01121867 -0.03885389
+v 0.00972185 0.01474428 -0.03194766
+v 0.00166109 0.01234613 -0.03463553
+v 0.01361671 0.01121865 -0.03194767
+v 0.01274607 0.01474430 -0.03942159
+v 0.01272143 0.01469115 -0.03942159
+v 0.01653087 0.01211560 -0.03883194
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+v 0.01668200 0.01376176 -0.03650913
+v 0.01535798 0.01474430 -0.03785965
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_53.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cac1ca0bf95acbf47907ff1aa6f3de4ebae30e7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_53.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.02055643 -0.01021544 0.03307310
+v 0.02013928 -0.01106856 0.03307310
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+v 0.01002274 -0.01960512 0.02449447
+v 0.01112990 -0.02022219 0.03307307
+v 0.01662656 -0.01592760 0.03307308
+v 0.01510897 -0.01544467 0.02449448
+v 0.01016141 -0.01952786 0.02449447
+v 0.01270900 -0.01918449 0.03307307
+v 0.01125180 -0.01883785 0.02449447
+v 0.01557979 -0.01693633 0.03307308
+v 0.01358467 -0.01694595 0.02449448
+v 0.01354552 -0.01860609 0.03307307
+v 0.01128982 -0.01881210 0.02449447
+v 0.01503628 -0.01742137 0.03307308
+v 0.01262401 -0.01778727 0.02449447
+v 0.01403871 -0.01823157 0.03307307
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 21
+f 1 21 32
+f 1 32 40
+f 1 40 42
+f 1 42 34
+f 1 34 26
+f 1 26 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 29
+f 1 29 37
+f 1 37 44
+f 1 44 48
+f 1 48 52
+f 1 52 56
+f 1 56 54
+f 1 54 50
+f 1 50 45
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+f 9 15 16
+f 10 18 11
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+f 13 14 22
+f 13 22 23
+f 13 23 24
+f 13 24 21
+f 15 26 27
+f 15 27 16
+f 17 25 28
+f 17 28 29
+f 19 20 30
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+f 26 34 27
+f 27 34 35
+f 28 36 37
+f 28 37 29
+f 30 31 38
+f 30 38 39
+f 32 33 40
+f 33 41 42
+f 33 42 40
+f 34 42 35
+f 35 42 41
+f 36 43 37
+f 37 43 44
+f 38 45 39
+f 39 45 46
+f 43 47 44
+f 44 47 49
+f 44 49 48
+f 45 50 51
+f 45 51 46
+f 48 49 53
+f 48 53 52
+f 50 54 51
+f 51 54 55
+f 52 53 56
+f 53 55 56
+f 54 56 55
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_54.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa20934de471c85d386c3cec44d24d419448a80a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_54.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.02290717 0.00208597 0.00152459
+v 0.02256278 0.00208598 0.00024738
+v 0.01890976 0.00796050 0.00024740
+v 0.01990489 0.00796048 0.00615427
+v 0.01999292 0.00796047 0.00760815
+v 0.01984432 0.00518021 0.01061843
+v 0.02017462 0.00363768 0.01061842
+v 0.02039365 0.00212735 0.01061842
+v 0.02039646 0.00208651 0.01061842
+v 0.02039576 0.00208595 0.00917165
+v 0.01748503 0.00208598 0.00024738
+v 0.01572014 0.00796050 0.00024740
+v 0.01964431 0.00796047 0.00875744
+v 0.01956473 0.00620570 0.01061843
+v 0.01808577 0.00208594 0.01061842
+v 0.01748292 0.00208595 0.00756650
+v 0.01571381 0.00796046 0.01040015
+v 0.01571451 0.00796047 0.00887927
+v 0.01898864 0.00796046 0.01061844
+v 0.01748433 0.00208594 0.01061842
+v 0.01748292 0.00208595 0.00913002
+v 0.01571381 0.00796046 0.01061844
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 15
+f 1 15 20
+f 1 20 21
+f 1 21 16
+f 1 16 11
+f 1 11 2
+f 2 11 12
+f 2 12 3
+f 3 12 18
+f 3 18 17
+f 3 17 22
+f 3 22 19
+f 3 19 13
+f 3 13 5
+f 3 5 4
+f 5 13 14
+f 5 14 6
+f 6 14 19
+f 6 19 22
+f 6 22 20
+f 6 20 15
+f 6 15 9
+f 6 9 8
+f 6 8 7
+f 9 15 10
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 13 19 14
+f 16 21 22
+f 16 22 17
+f 20 22 21
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_55.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2463e1a2fd0d229c0da6eb0439ad0279b5ba772b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_55.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.01843175 -0.01148319 -0.03650974
+v 0.01843011 -0.01148319 -0.03649509
+v 0.01796881 -0.01225702 -0.03569984
+v 0.01797210 -0.01226313 -0.03650975
+v 0.01795897 -0.01224276 -0.03729993
+v 0.01810671 -0.01148318 -0.03779105
+v 0.01812313 -0.01148319 -0.03521040
+v 0.01743037 -0.01301864 -0.03650975
+v 0.01765363 -0.01163898 -0.03443316
+v 0.01749275 -0.01190473 -0.03443316
+v 0.01696579 -0.01276816 -0.03443317
+v 0.01659315 -0.01393705 -0.03546667
+v 0.01667195 -0.01403276 -0.03650975
+v 0.01245630 -0.01896286 -0.04018700
+v 0.01789987 -0.01148318 -0.03806252
+v 0.01771765 -0.01148319 -0.03443316
+v 0.01558848 -0.01442171 -0.03443317
+v 0.01602351 -0.01478827 -0.03650975
+v 0.01515346 -0.01549082 -0.03538783
+v 0.01203769 -0.01946076 -0.04018700
+v 0.01317368 -0.01751193 -0.04018699
+v 0.01754200 -0.01172653 -0.03831372
+v 0.01727441 -0.01148318 -0.03863024
+v 0.01260897 -0.01148319 -0.03443316
+v 0.01408641 -0.01592050 -0.03443318
+v 0.01526509 -0.01560181 -0.03650976
+v 0.01360378 -0.01692343 -0.03546443
+v 0.01175697 -0.01970004 -0.04018700
+v 0.01276164 -0.01599074 -0.04018699
+v 0.01701176 -0.01148318 -0.03883976
+v 0.00166109 -0.01148319 -0.03463874
+v 0.00166109 -0.01698045 -0.03443318
+v 0.01243331 -0.01729609 -0.03443318
+v 0.01193427 -0.01830614 -0.03566776
+v 0.01151730 -0.01984360 -0.04018700
+v 0.01208201 -0.01512120 -0.04018699
+v 0.00885461 -0.01237817 -0.04018698
+v 0.00846555 -0.01217453 -0.04018697
+v 0.00789920 -0.01190369 -0.04018697
+v 0.00705705 -0.01172856 -0.04018697
+v 0.00649562 -0.01148317 -0.03997633
+v 0.00166109 -0.01148318 -0.03765363
+v 0.00166109 -0.02122124 -0.03443320
+v 0.01134001 -0.01798337 -0.03443319
+v 0.00960647 -0.01901583 -0.03443319
+v 0.00904011 -0.01987417 -0.03554554
+v 0.01099198 -0.02007677 -0.04018700
+v 0.00669426 -0.01172856 -0.04018697
+v 0.00647921 -0.01148317 -0.03997633
+v 0.00166109 -0.01966848 -0.03885105
+v 0.00506742 -0.01148317 -0.03948520
+v 0.00584883 -0.01226515 -0.04018698
+v 0.00550573 -0.01320393 -0.04018698
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+v 0.00353580 -0.02103899 -0.03443320
+v 0.00659740 -0.02026516 -0.03443319
+v 0.00808798 -0.02010734 -0.03522620
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+v 0.00460777 -0.02138721 -0.03556301
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+v 0.00808798 -0.02041890 -0.03650978
+v 0.00166109 -0.02013278 -0.03885105
+v 0.00550573 -0.01372219 -0.04018698
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+v 0.00201896 -0.02158270 -0.03518735
+v 0.00353580 -0.02149718 -0.03535856
+v 0.00507563 -0.02076102 -0.03443320
+v 0.00556319 -0.02060523 -0.03443320
+v 0.00476208 -0.02143303 -0.03650978
+v 0.00353580 -0.02169267 -0.03650978
+v 0.00201896 -0.02186576 -0.03650978
+v 0.00201896 -0.02157149 -0.03785474
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+v 0.00166109 -0.02142589 -0.03805299
+v 0.00166109 -0.02088828 -0.03863479
+v 0.00803545 -0.02030994 -0.04018700
+v 0.00666963 -0.01904635 -0.04018700
+v 0.00710630 -0.01984666 -0.04018700
+v 0.00166109 -0.02188409 -0.03650978
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+f 1 30 41
+f 1 41 49
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+f 1 24 16
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+f 42 52 53
+f 42 53 50
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+f 45 57 46
+f 46 58 47
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+f 46 59 60
+f 46 60 61
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+f 48 52 51
+f 48 51 49
+f 50 53 63
+f 50 63 62
+f 54 64 65
+f 54 65 55
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+f 56 68 57
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+f 58 69 70
+f 58 70 71
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+f 59 68 67
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+f 59 66 70
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+f 62 78 75
+f 64 79 71
+f 64 71 65
+f 65 71 66
+f 66 71 70
+f 71 79 72
+f 72 79 73
+f 75 78 76
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_56.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89de6511f0913cee0e9df0a0b3739beef8150fef
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_56.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.01733010 -0.00325783 -0.03194772
+v 0.01747788 0.00204184 -0.03194770
+v 0.01899239 -0.00325783 -0.03194772
+v 0.01733053 -0.00325795 0.00024634
+v 0.02023555 0.00204184 -0.03194770
+v 0.01748825 0.00204172 0.00024636
+v 0.02039154 -0.00240499 -0.03194772
+v 0.02026753 -0.00325783 -0.03194457
+v 0.02039456 -0.00325795 0.00024634
+v 0.02050389 0.00061576 -0.03194771
+v 0.02039888 0.00204184 -0.03194455
+v 0.02174358 0.00204172 0.00024636
+v 0.02050475 -0.00089436 -0.03194771
+v 0.02119611 -0.00325785 -0.02721757
+v 0.02174358 -0.00205650 0.00024634
+v 0.02103753 -0.00325794 -0.00162240
+v 0.02174358 -0.00262765 -0.00150895
+v 0.02140352 0.00204182 -0.02729318
+v 0.02174358 0.00204175 -0.00819607
+v 0.02161698 0.00061573 -0.02585933
+v 0.02147439 -0.00240502 -0.02585934
+v 0.02140309 -0.00325786 -0.02585934
+v 0.02145062 -0.00325794 -0.00304050
+v 0.02174358 -0.00325794 -0.00405208
+v 0.02152235 0.00204181 -0.02585932
+v 0.02174358 0.00204019 -0.00822128
+v 0.02174358 0.00173827 -0.00919820
+v 0.02174358 0.00172945 -0.00922656
+v 0.02174358 0.00171285 -0.00926753
+v 0.02174358 0.00084601 -0.01052807
+v 0.02174358 -0.00004834 -0.01155226
+v 0.02174358 -0.00085034 -0.01221404
+v 0.02174358 -0.00089444 -0.01220773
+v 0.02174358 -0.00237187 -0.01139785
+v 0.02174358 -0.00325792 -0.00916355
+f 1 2 5
+f 1 5 10
+f 1 10 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 22
+f 1 22 35
+f 1 35 24
+f 1 24 23
+f 1 23 16
+f 1 16 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 12
+f 2 12 19
+f 2 19 25
+f 2 25 18
+f 2 18 11
+f 2 11 5
+f 3 7 8
+f 4 9 15
+f 4 15 12
+f 4 12 6
+f 5 11 10
+f 7 13 14
+f 7 14 8
+f 9 16 17
+f 9 17 15
+f 10 11 18
+f 10 18 13
+f 12 15 17
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+f 12 24 35
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+f 13 18 20
+f 13 20 21
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+f 17 23 24
+f 18 25 20
+f 19 26 25
+f 20 25 26
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 21 35 22
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_57.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6dc6979beb8f0f73715222de2b5da892bef51c0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_57.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.01826342 -0.00694902 0.03307374
+v 0.02199008 -0.00694902 0.03307374
+v 0.01843728 -0.00694902 0.03339339
+v 0.01905615 0.00506838 0.03355795
+v 0.01882123 0.00506838 0.03307379
+v 0.02199732 -0.00692667 0.03307374
+v 0.02722975 -0.00693727 0.03411587
+v 0.02722871 -0.00694903 0.03411650
+v 0.01845591 -0.00694902 0.03342278
+v 0.01909133 0.00506838 0.03361863
+v 0.02236574 0.00506838 0.03307379
+v 0.02203044 -0.00681021 0.03307374
+v 0.02863100 -0.00423994 0.03563592
+v 0.02863100 -0.00497985 0.03563592
+v 0.02233884 -0.00556801 0.03307375
+v 0.02258307 -0.00433639 0.03307375
+v 0.02271968 -0.00339885 0.03307376
+v 0.02284490 -0.00248484 0.03307376
+v 0.02292562 -0.00089562 0.03307377
+v 0.02292873 -0.00022629 0.03307377
+v 0.02292976 0.00061597 0.03307377
+v 0.02283869 0.00205580 0.03307378
+v 0.02278798 0.00245693 0.03307378
+v 0.02263275 0.00363679 0.03307378
+v 0.02629110 0.00506837 0.03433298
+v 0.02785586 0.00506837 0.03498666
+v 0.02790347 0.00506837 0.03501543
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_58.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04bc248196386a72be4ebf6c5196e41702d9f88f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_58.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.02103927 -0.00254360 -0.03342958
+v -0.02191978 -0.00241702 -0.03049909
+v -0.02105616 -0.00240520 -0.03342958
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_59.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56a4c120b96c72fb0d3a34b467c46302b54444e7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_59.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+v -0.02227992 -0.00254372 0.00024634
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_6.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44971ea0e7ce6af57a85f5e059a1ad8d6fce387b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_6.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.00166109 0.02165438 0.00024643
+v 0.00050027 0.02171889 0.00024643
+v 0.00166109 0.01759394 0.00024641
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+v -0.01142822 0.01919353 -0.01370163
+v -0.01142822 0.01919940 -0.01350029
+v -0.01142822 0.01925385 -0.01044070
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+f 40 57 58
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+f 40 60 45
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+f 41 59 42
+f 43 61 62
+f 43 62 44
+f 44 62 45
+f 45 60 46
+f 45 62 56
+f 46 60 54
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+f 48 65 66
+f 48 66 49
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+f 53 69 54
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+f 56 62 61
+f 56 61 57
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_60.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27f7a5e9dbbc716d4e63b0c5037dcc3ec93b75ed
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_60.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.01650726 -0.00770493 0.02449451
+v -0.01651932 -0.00770493 0.02494460
+v -0.02064300 -0.00770493 0.02449451
+v -0.01803974 -0.00241856 0.02449453
+v -0.01654613 -0.00770494 0.02586494
+v -0.02150003 -0.00618981 0.02508988
+v -0.02106247 -0.00678333 0.02449452
+v -0.02223779 -0.00770496 0.03307311
+v -0.02301977 -0.00241856 0.02449453
+v -0.01807927 -0.00241856 0.02574488
+v -0.01808329 -0.00241857 0.02586496
+v -0.01808396 -0.00241857 0.02587839
+v -0.01822200 -0.00241857 0.02738653
+v -0.01660107 -0.00770494 0.02643007
+v -0.01849606 -0.00770496 0.03307311
+v -0.02251788 -0.00692722 0.03307311
+v -0.02322146 -0.00241857 0.02742516
+v -0.02288575 -0.00542658 0.03307312
+v -0.01839019 -0.00241857 0.02848573
+v -0.01670025 -0.00770494 0.02738651
+v -0.01837545 -0.00770496 0.03286318
+v -0.01988245 -0.00241859 0.03307313
+v -0.02335280 -0.00241859 0.03307313
+v -0.02316920 -0.00391664 0.03307313
+v -0.02331527 -0.00276115 0.03307313
+v -0.01687380 -0.00770494 0.02837823
+v -0.01855570 -0.00241858 0.02925240
+v -0.01983622 -0.00241859 0.03298832
+v -0.01983957 -0.00241859 0.03299504
+v -0.01790036 -0.00770496 0.03186475
+v -0.01706544 -0.00770495 0.02923810
+v -0.01887264 -0.00241858 0.03042801
+v -0.01738440 -0.00770495 0.03042799
+v -0.01939598 -0.00241859 0.03194959
+v -0.01761088 -0.00770495 0.03107709
+f 1 2 5
+f 1 5 14
+f 1 14 20
+f 1 20 26
+f 1 26 31
+f 1 31 33
+f 1 33 35
+f 1 35 30
+f 1 30 21
+f 1 21 15
+f 1 15 8
+f 1 8 3
+f 1 3 7
+f 1 7 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
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+f 3 8 6
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+f 21 29 22
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+f 26 27 31
+f 27 32 33
+f 27 33 31
+f 28 30 34
+f 30 35 34
+f 32 34 33
+f 33 34 35
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_61.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18d5d414eefa6af23b79d5a1e88b7a43a1aa26c3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_61.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.02281785 0.00208589 0.02333187
+v 0.01986099 0.00796041 0.02428404
+v 0.01985889 0.00796041 0.02431664
+v 0.01984704 0.00796041 0.02449457
+v 0.02263588 0.00208589 0.02449455
+v 0.02039644 0.00208594 0.01065237
+v 0.02039644 0.00208651 0.01061978
+v 0.02108598 0.00487883 0.01429935
+v 0.02120241 0.00508817 0.01521619
+v 0.02095700 0.00584333 0.01521619
+v 0.02006318 0.00796045 0.01369493
+v 0.02006875 0.00796045 0.01390546
+v 0.02001925 0.00796044 0.01694800
+v 0.01569935 0.00796041 0.02449457
+v 0.01750860 0.00208589 0.02449455
+v 0.01808589 0.00208594 0.01061978
+v 0.02039365 0.00212735 0.01061978
+v 0.02017403 0.00363768 0.01061978
+v 0.02056308 0.00665832 0.01369492
+v 0.01985471 0.00796045 0.01271969
+v 0.01569586 0.00796041 0.02436961
+v 0.01750442 0.00208589 0.02434786
+v 0.01748420 0.00208594 0.01061978
+v 0.02016776 0.00367046 0.01061978
+v 0.01984425 0.00518021 0.01061979
+v 0.01956467 0.00620570 0.01061979
+v 0.01976477 0.00796045 0.01250101
+v 0.01569516 0.00796041 0.02434244
+v 0.01749884 0.00208590 0.02282116
+v 0.01571329 0.00796046 0.01061980
+v 0.01748420 0.00208594 0.01065237
+v 0.01898878 0.00796046 0.01061980
+v 0.01749257 0.00208591 0.01973652
+v 0.01749536 0.00208590 0.02129989
+v 0.01748978 0.00208592 0.01673744
+v 0.01749117 0.00208591 0.01825735
+f 1 2 3
+f 1 3 4
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+f 1 34 33
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+f 23 28 30
+f 26 32 27
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+f 28 34 29
+f 28 31 35
+f 28 35 36
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_62.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed30aec4c8706bc9fdb8d5bf57e6d3054c896039
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_62.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.01444165 0.01349589 0.03307381
+v -0.01897719 0.01349589 0.03307381
+v -0.01470768 0.01349589 0.03347152
+v -0.02008758 0.00413414 0.03404485
+v -0.01995312 0.00413415 0.03382281
+v -0.01967552 0.00413415 0.03331562
+v -0.01962058 0.00413415 0.03320367
+v -0.01955696 0.00413415 0.03307378
+v -0.02045915 0.01121686 0.03307380
+v -0.02768537 0.00784182 0.03413950
+v -0.02747862 0.00884800 0.03428361
+v -0.02627569 0.01218729 0.03553179
+v -0.02526940 0.01349588 0.03647875
+v -0.01521227 0.01349588 0.03413457
+v -0.02082206 0.00413414 0.03504809
+v -0.02049385 0.00413414 0.03460585
+v -0.02310645 0.00413415 0.03307378
+v -0.02067458 0.01082923 0.03307380
+v -0.02253391 0.00665145 0.03307378
+v -0.02256282 0.00654423 0.03307378
+v -0.02287223 0.00531079 0.03307378
+v -0.02776344 0.00665969 0.03410238
+v -0.02914854 0.00470047 0.03563073
+v -0.02791092 0.00827527 0.03487182
+v -0.02200040 0.00824320 0.03307379
+v -0.02215655 0.00782533 0.03307379
+v -0.02771284 0.00939325 0.03529798
+v -0.02636823 0.01269497 0.03663895
+v -0.02606749 0.01348763 0.03722901
+v -0.02605737 0.01349587 0.03722468
+v -0.01535396 0.01349588 0.03431146
+v -0.02141918 0.00413414 0.03576062
+v -0.02842563 0.00413414 0.03516684
+v -0.02770850 0.00559027 0.03415248
+v -0.02914854 0.00413414 0.03563073
+v -0.02921216 0.00413414 0.03644780
+v -0.02917601 0.00472063 0.03651336
+v -0.02771284 0.00939325 0.03606680
+v -0.02704487 0.01119027 0.03651338
+v -0.02606749 0.01348763 0.03734962
+v -0.02606027 0.01349587 0.03735705
+v -0.01579349 0.01349588 0.03481494
+v -0.02145099 0.00413414 0.03579835
+v -0.02918324 0.00413413 0.03750670
+v -0.02913986 0.00452176 0.03737248
+v -0.02627859 0.01270137 0.03771022
+v -0.02592725 0.01270137 0.03847100
+v -0.02567568 0.01349587 0.03815803
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+v -0.01711352 0.01349588 0.03606125
+v -0.02836924 0.00413413 0.03812150
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+v -0.02499614 0.01349587 0.03905612
+v -0.02292428 0.00413413 0.03694880
+v -0.01885718 0.01349587 0.03727293
+v -0.02788344 0.00413413 0.03822542
+v -0.02377153 0.01270137 0.03939197
+v -0.02377153 0.01349587 0.03938331
+v -0.02443372 0.01349587 0.03924352
+v -0.02081049 0.01267663 0.03834977
+v -0.02136424 0.01316414 0.03887736
+v -0.02164039 0.01215704 0.03872953
+v -0.02327995 0.00413413 0.03715291
+v -0.02111411 0.01349587 0.03873634
+v -0.02671522 0.00413413 0.03831201
+v -0.02218836 0.01267663 0.03908024
+v -0.02297344 0.01349587 0.03931775
+v -0.02620919 0.00413413 0.03825325
+v -0.02135412 0.01349587 0.03888231
+v -0.02222306 0.01349587 0.03917116
+v -0.02489638 0.00413413 0.03789080
+v -0.02378888 0.00413413 0.03742753
+f 1 2 13
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+f 1 30 41
+f 1 41 48
+f 1 48 54
+f 1 54 55
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+f 1 61 60
+f 1 60 69
+f 1 69 72
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+f 1 66 57
+f 1 57 51
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+f 1 42 31
+f 1 31 14
+f 1 14 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
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+f 1 25 18
+f 1 18 9
+f 1 9 2
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+f 2 12 13
+f 3 14 15
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+f 63 72 68
+f 63 68 64
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+f 64 73 74
+f 64 74 65
+f 68 72 69
+f 68 70 73
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_63.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..493ec3826a019cb31e417f25114d8aa033a1f783
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_63.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.02936146 -0.00089581 0.03803499
+v -0.02930990 -0.00240467 0.03673489
+v -0.02925421 -0.00391572 0.03770340
+v -0.02929340 -0.00246746 0.03815612
+v -0.02915830 -0.00089581 0.03888486
+v -0.02935837 0.00061523 0.03803499
+v -0.02930474 0.00212627 0.03675426
+v -0.02926143 -0.00376850 0.03636334
+v -0.02914902 0.00413414 0.03563090
+v -0.02918408 -0.00501760 0.03651320
+v -0.02914902 -0.00481953 0.03738992
+v -0.02901908 -0.00301191 0.03874435
+v -0.02912942 -0.00200419 0.03885051
+v -0.02832296 -0.00089581 0.03928201
+v -0.02915520 0.00061523 0.03888237
+v -0.02928618 0.00216524 0.03814678
+v -0.02923977 0.00363731 0.03767844
+v -0.02924905 0.00352367 0.03637897
+v -0.02915108 -0.00417441 0.03562648
+v -0.02915108 -0.00498513 0.03562648
+v -0.02921192 0.00413414 0.03644767
+v -0.02842506 0.00413414 0.03516693
+v -0.02775782 -0.00692372 0.03410532
+v -0.02833946 -0.00692372 0.03501077
+v -0.02880147 -0.00577312 0.03651320
+v -0.02818373 -0.00692372 0.03663371
+v -0.02813836 -0.00692372 0.03670302
+v -0.02804142 -0.00692373 0.03680793
+v -0.02774028 -0.00657844 0.03736432
+v -0.02800738 -0.00341240 0.03893356
+v -0.02843640 -0.00246746 0.03906407
+v -0.02680594 -0.00089581 0.03945249
+v -0.02680594 0.00061523 0.03945124
+v -0.02832296 0.00061523 0.03927514
+v -0.02912530 0.00168790 0.03884679
+v -0.02918305 0.00413413 0.03750673
+v -0.02899742 0.00269562 0.03872876
+v -0.02776400 -0.00692372 0.03411219
+v -0.02833430 -0.00692372 0.03499266
+v -0.02310776 0.00413415 0.03307379
+v -0.02311910 0.00407895 0.03307378
+v -0.02770831 -0.00586404 0.03415029
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diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_64.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25d4380617e4a2941dd8129508bfcfa9b7bfa43e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_64.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_65.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13c42c88e8a07d33bc5a4380d0c8e29ace1eaa84
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_65.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.01671806 0.00697176 0.02282179
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_66.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd98323e130e79efecfef48cf11fdee2ef25fe25
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_66.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+v 0.00556398 -0.02060610 -0.03443320
+v 0.00612356 -0.01988448 -0.03194778
+v 0.01012705 -0.01813807 -0.03194778
+v 0.01133895 -0.01798362 -0.03443319
+v 0.00659669 -0.02026578 -0.03443319
+v 0.00688276 -0.01962137 -0.03194778
+v 0.00960677 -0.01901603 -0.03443319
+v 0.00936942 -0.01853844 -0.03194778
+v 0.00808680 -0.01913806 -0.03194778
+f 1 2 3
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+f 1 8 7
+f 1 7 6
+f 1 6 12
+f 1 12 17
+f 1 17 21
+f 1 21 27
+f 1 27 32
+f 1 32 35
+f 1 35 33
+f 1 33 29
+f 1 29 23
+f 1 23 19
+f 1 19 14
+f 1 14 10
+f 1 10 4
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+f 2 8 3
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+f 2 11 5
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+f 29 33 30
+f 30 33 34
+f 31 35 32
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+f 33 35 37
+f 33 37 34
+f 35 36 37
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_67.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac075a40bdba7648cdcdcbf4b40fafe34135e3b7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_67.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.02345553 -0.00093297 0.00452174
+v -0.02345553 -0.00159996 0.00390849
+v -0.02345553 0.00064758 0.00451598
+v -0.02936532 0.00047926 0.01988356
+v -0.02937001 -0.00075698 0.01988356
+v -0.02345553 -0.00205933 0.00298575
+v -0.03016037 -0.00197158 0.01988355
+v -0.02345553 0.00065320 0.00451213
+v -0.02936907 0.00048575 0.01988356
+v -0.02345553 0.00148544 0.00329719
+v -0.02345553 -0.00233357 0.00152473
+v -0.03135716 -0.00224366 0.01988355
+v -0.03009935 0.00164413 0.01988357
+v -0.02345553 0.00177785 0.00281467
+v -0.02832247 -0.00224405 0.00913162
+v -0.02345553 -0.00226219 0.00024826
+v -0.03135716 -0.00224453 0.01977781
+v -0.02983934 -0.00226397 0.01369345
+v -0.03245539 -0.00192227 0.01988355
+v -0.03015192 0.00170382 0.01988357
+v -0.02345553 0.00208540 0.00114027
+v -0.02945262 -0.00190277 0.00913162
+v -0.02837410 -0.00199317 0.00761294
+v -0.02983934 -0.00222460 0.01217092
+v -0.02990599 -0.00198713 0.01065416
+v -0.02507002 -0.00195898 0.00152473
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+v -0.02345553 0.00204474 0.00024828
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+v -0.03302891 -0.00089453 0.01988356
+v -0.03303078 -0.00089453 0.01977782
+v -0.03135716 0.00199623 0.01988357
+v -0.02345553 0.00208540 0.00109798
+v -0.02346022 0.00208540 0.00114027
+v -0.02921232 -0.00176392 0.00812429
+v -0.02475275 -0.00182661 0.00027518
+v -0.03088219 -0.00187250 0.01217092
+v -0.03070009 -0.00174576 0.01116359
+v -0.03135716 -0.00219218 0.01673659
+v -0.03115253 -0.00197762 0.01369345
+v -0.02476496 -0.00177427 0.00024826
+v -0.02397836 0.00184274 0.00024828
+v -0.02946106 0.00163076 0.00913164
+v -0.02832247 0.00197464 0.00913164
+v -0.03242159 -0.00190238 0.01825720
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+v -0.03304486 0.00061595 0.01977782
+v -0.03294630 -0.00089453 0.01825721
+v -0.03135716 0.00199666 0.01977783
+v -0.03247040 0.00166403 0.01977783
+v -0.03246946 0.00166359 0.01988357
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+v -0.02938128 -0.00089449 0.00782056
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+v -0.03045604 -0.00121761 0.01014858
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+v -0.03220382 -0.00173929 0.01558316
+v -0.03207241 -0.00154593 0.01456814
+v -0.03138156 -0.00089450 0.01217093
+v -0.03080804 -0.00078636 0.01065417
+v -0.03231646 -0.00183489 0.01673659
+v -0.02512915 -0.00102985 0.00024827
+v -0.02474806 0.00153044 0.00024828
+v -0.02921608 0.00149061 0.00812047
+v -0.03070291 0.00146811 0.01115592
+v -0.03088783 0.00159615 0.01217094
+v -0.02991162 0.00171293 0.01064841
+v -0.02983934 0.00195430 0.01217094
+v -0.03300356 0.00068862 0.01988356
+v -0.03243192 0.00164456 0.01825722
+v -0.03295663 0.00061595 0.01825721
+v -0.03274355 0.00061596 0.01673660
+v -0.03273041 -0.00089452 0.01673660
+v -0.03135716 0.00193611 0.01673661
+v -0.03014628 -0.00078635 0.00926428
+v -0.03061374 -0.00021063 0.00986022
+v -0.03235776 -0.00098319 0.01513141
+v -0.03220289 -0.00053895 0.01417598
+v -0.03190815 -0.00098318 0.01367808
+v -0.02514699 0.00063635 0.00024827
+v -0.02603214 0.00133405 0.00230715
+v -0.02762599 0.00142920 0.00521958
+v -0.02938409 0.00061599 0.00781864
+v -0.03046449 0.00094299 0.01014089
+v -0.03080992 0.00051000 0.01064840
+v -0.03138625 0.00061598 0.01217093
+v -0.03207147 0.00126393 0.01456046
+v -0.03221509 0.00147068 0.01557549
+v -0.03115628 0.00170557 0.01369347
+v -0.03232960 0.00157277 0.01673661
+v -0.03236433 0.00070247 0.01512564
+v -0.03220289 0.00025695 0.01417598
+v -0.03061374 -0.00006399 0.00986022
+v -0.03015379 0.00051001 0.00926428
+v -0.03191096 0.00070248 0.01367808
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+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_68.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e5a9d36507cbafe581de5ad8debff33818c2b77
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_68.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.01571397 -0.00072152 -0.04224821
+v -0.01571397 -0.00092419 -0.04222808
+v -0.01571397 0.00041257 -0.04224150
+v -0.00253217 0.00061522 -0.03826637
+v -0.00253217 -0.00089436 -0.03826488
+v -0.01571397 -0.00122056 -0.04207304
+v -0.00253217 -0.00388715 -0.03757392
+v -0.01571397 0.00093380 -0.04203130
+v -0.00253217 0.00320268 -0.03764769
+v -0.01571397 -0.00163630 -0.04154681
+v -0.00253217 -0.00388715 -0.03750982
+v -0.01571397 -0.00388715 -0.03776623
+v -0.01571397 0.00120240 -0.04187402
+v -0.00253346 0.00320337 -0.03764769
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+v -0.00253217 -0.00388647 -0.03464158
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+v -0.01571397 -0.00344505 -0.03463636
+v -0.00402119 -0.00388716 -0.03464084
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+f 1 13 8
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+f 1 3 4
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+f 14 19 20
+f 14 20 21
+f 14 21 15
+f 15 21 22
+f 15 22 23
+f 15 23 16
+f 16 23 17
+f 18 23 22
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_69.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9764e2d765ec1cac653677bc0791452b7e75c98
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_69.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.01672119 0.00697176 0.02065748
+v -0.01983542 0.00697176 0.02065748
+v -0.01802335 0.00208580 0.02065746
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+v -0.01801741 0.00208582 0.01525646
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+v -0.02009005 0.00622942 0.02065747
+v -0.02337513 0.00208588 0.00024836
+v -0.02105776 0.00209632 0.02065746
+v -0.02105644 0.00211402 0.02065746
+v -0.02039481 0.00514796 0.02065747
+f 1 2 10
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+f 1 16 20
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+f 9 17 12
+f 9 12 11
+f 10 13 16
+f 12 17 13
+f 13 14 18
+f 13 18 19
+f 13 19 20
+f 13 20 16
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_7.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feb0f03efcf721901e42d08cf9db7f5fe21167db
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_7.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.01788118 0.01289530 -0.01064777
+v 0.01787800 0.01289531 -0.01369196
+v 0.01772876 0.01312783 -0.01064777
+v 0.01686822 0.01410712 -0.00912568
+v 0.01605372 0.01289526 0.00024640
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+v 0.01730642 0.01289537 -0.02895704
+v 0.01696983 0.01415543 -0.01064777
+v 0.01635538 0.01486194 -0.00912568
+v 0.01241785 0.01842854 0.00024642
+v 0.01206220 0.01289526 0.00024640
+v 0.01142394 0.01919856 0.00024642
+v 0.01667769 0.01375930 -0.02890032
+v 0.01530908 0.01549701 -0.02890031
+v 0.01470257 0.01625272 -0.02890031
+v 0.01394365 0.01695925 -0.02890031
+v 0.01415481 0.01758613 -0.01521090
+v 0.01724450 0.01289537 -0.02939823
+v 0.00166109 0.01759323 0.00024641
+v 0.01206062 0.01289526 -0.00075572
+v 0.01078727 0.01959565 0.00024642
+v 0.01656020 0.01362784 -0.03042241
+v 0.01599021 0.01438266 -0.03042241
+v 0.01523128 0.01535570 -0.03042240
+v 0.01376582 0.01672314 -0.02992134
+v 0.00941707 0.01828467 -0.03194764
+v 0.00808657 0.01890087 -0.03194764
+v 0.00918050 0.01966819 -0.02689920
+v 0.01018235 0.01939451 -0.02585926
+v 0.01112069 0.01886328 -0.02585926
+v 0.01225432 0.01821309 -0.02585926
+v 0.00785952 0.02130207 -0.00608461
+v 0.01688727 0.01289537 -0.03061465
+v 0.01643953 0.01347669 -0.03120080
+v 0.01205427 0.01289528 -0.00608464
+v 0.01205585 0.01289528 -0.00456254
+v 0.00166109 0.02165442 0.00024643
+v 0.00166109 0.01757904 -0.03194765
+v 0.01203680 0.01289535 -0.02359662
+v 0.01049513 0.01974053 0.00024642
+v 0.01505981 0.01510440 -0.03133945
+v 0.01112069 0.01729911 -0.03194765
+v 0.01017282 0.01788669 -0.03194764
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+v 0.00585583 0.02102401 -0.02665969
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+v 0.00657030 0.02150956 -0.00608461
+v 0.00201991 0.02163743 0.00000063
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+f 35 53 54
+f 35 54 42
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+f 46 64 65
+f 46 65 66
+f 46 66 51
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+f 48 68 49
+f 48 51 66
+f 48 66 69
+f 48 69 56
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+f 49 70 50
+f 50 70 60
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+f 72 75 73
+f 73 75 74
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_70.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ea7515896f611d69e63284d31814a762a43aff2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_70.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.02878774 -0.00083399 0.01869842
+v 0.02879174 0.00055869 0.01869842
+v 0.02956271 -0.00199695 0.01869841
+v 0.02231462 -0.00053280 0.02044872
+v 0.02231462 0.00025120 0.02044872
+v 0.02903204 0.00092237 0.01869842
+v 0.02991615 -0.00208326 0.01869841
+v 0.02231462 -0.00197673 0.02140016
+v 0.02267908 -0.00153798 0.02058714
+v 0.02231462 -0.00054179 0.02045042
+v 0.02231462 0.00153104 0.02075453
+v 0.02956671 0.00171671 0.01869843
+v 0.03084231 -0.00227476 0.01869841
+v 0.02231462 -0.00245504 0.02286054
+v 0.02231462 -0.00131096 0.02068928
+v 0.02231462 0.00193787 0.02116076
+v 0.03084231 0.00199093 0.01869843
+v 0.03116772 -0.00217631 0.01869841
+v 0.03084231 -0.00228690 0.01977979
+v 0.02231462 -0.00250720 0.02449453
+v 0.02231462 -0.00250495 0.02438560
+v 0.02231462 -0.00250405 0.02434305
+v 0.02231462 0.00208532 0.02218030
+v 0.03084231 0.00200172 0.01977981
+v 0.03196071 0.00166546 0.01977981
+v 0.03192367 0.00164523 0.01869843
+v 0.03193068 -0.00192727 0.01869841
+v 0.03196472 -0.00194660 0.01977979
+v 0.03084231 -0.00227702 0.02130088
+v 0.02231462 0.00208531 0.02449455
+v 0.03084231 -0.00224016 0.02282196
+v 0.03099150 -0.00202214 0.02449056
+v 0.03099050 -0.00202169 0.02449453
+v 0.02267207 0.00208532 0.02284581
+v 0.03084231 0.00199497 0.02130090
+v 0.02281825 0.00208531 0.02333260
+v 0.02263603 0.00208531 0.02449455
+v 0.03194870 0.00165781 0.02130090
+v 0.03253744 0.00061578 0.01977980
+v 0.03209088 0.00134179 0.01869842
+v 0.03247235 -0.00089422 0.01869842
+v 0.03254244 -0.00089422 0.01977980
+v 0.03194970 -0.00193852 0.02130088
+v 0.03187260 -0.00188997 0.02282196
+v 0.03174644 -0.00178523 0.02408149
+v 0.03099550 -0.00201989 0.02449453
+v 0.03084231 0.00196125 0.02282198
+v 0.03098950 0.00174141 0.02449455
+v 0.03251441 0.00061577 0.02130089
+v 0.03186760 0.00160791 0.02282198
+v 0.03246535 0.00061578 0.01869842
+v 0.03251441 -0.00089423 0.02130089
+v 0.03235020 -0.00089423 0.02282197
+v 0.03192467 -0.00104439 0.02449454
+v 0.03099250 0.00174096 0.02449228
+v 0.03099450 0.00173962 0.02449455
+v 0.03234620 0.00061577 0.02282197
+v 0.03174144 0.00150451 0.02408435
+v 0.03192367 0.00076052 0.02449454
+v 0.03192567 -0.00103900 0.02449454
+v 0.03192667 -0.00104079 0.02449057
+v 0.03168337 0.00144876 0.02449455
+v 0.03192367 0.00076366 0.02449227
+v 0.03192266 0.00076591 0.02449454
+f 1 2 6
+f 1 6 12
+f 1 12 17
+f 1 17 26
+f 1 26 40
+f 1 40 51
+f 1 51 41
+f 1 41 27
+f 1 27 18
+f 1 18 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
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+f 3 10 4
+f 4 10 15
+f 4 15 8
+f 4 8 14
+f 4 14 22
+f 4 22 21
+f 4 21 20
+f 4 20 30
+f 4 30 23
+f 4 23 16
+f 4 16 11
+f 4 11 5
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+f 5 12 6
+f 7 13 8
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+f 39 51 40
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+f 44 53 45
+f 45 53 54
+f 45 54 46
+f 47 48 55
+f 47 55 50
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+f 49 53 52
+f 49 50 57
+f 50 55 58
+f 50 58 57
+f 53 57 59
+f 53 59 60
+f 53 60 61
+f 53 61 54
+f 54 61 60
+f 55 56 62
+f 55 62 58
+f 57 63 59
+f 57 58 62
+f 57 62 64
+f 57 64 63
+f 59 63 64
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_71.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17c8e758b349a23f676f1d5852fcc1836a191b7d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_71.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.02223810 -0.00770619 0.03307311
+v -0.02202482 -0.00832063 0.03307311
+v -0.01849447 -0.00770619 0.03307311
+v -0.02064218 -0.00770616 0.02449451
+v -0.02010631 -0.00902758 0.02449451
+v -0.01988984 -0.00949272 0.02449451
+v -0.02122261 -0.00993199 0.03307310
+v -0.01837457 -0.00770619 0.03286318
+v -0.01139771 -0.01633177 0.03307308
+v -0.01650806 -0.00770616 0.02449451
+v -0.01874808 -0.01160501 0.02449450
+v -0.02052545 -0.01130892 0.03307310
+v -0.01789918 -0.00770619 0.03186475
+v -0.01139771 -0.02030958 0.03307307
+v -0.01139771 -0.01621333 0.03285560
+v -0.01139771 -0.01414049 0.02449449
+v -0.01651973 -0.00770616 0.02494460
+v -0.01139771 -0.01417504 0.02583721
+v -0.01795861 -0.01279070 0.02449449
+v -0.01847537 -0.01224166 0.02502520
+v -0.01946752 -0.01297334 0.03307309
+v -0.01760950 -0.00770618 0.03107709
+v -0.01139771 -0.01575558 0.03200916
+v -0.01143591 -0.02028984 0.03307307
+v -0.01139771 -0.01873891 0.02449447
+v -0.01654626 -0.00770617 0.02586494
+v -0.01139771 -0.01417628 0.02586492
+v -0.01706939 -0.01388756 0.02449449
+v -0.01875020 -0.01400110 0.03307309
+v -0.01738348 -0.00770618 0.03042799
+v -0.01139771 -0.01512633 0.03046827
+v -0.01322283 -0.01917571 0.03307307
+v -0.01228692 -0.01820343 0.02449447
+v -0.01152822 -0.01866488 0.02449447
+v -0.01660143 -0.00770617 0.02643007
+v -0.01139771 -0.01432311 0.02738649
+v -0.01139771 -0.01430707 0.02722947
+v -0.01641362 -0.01462291 0.02449449
+v -0.01736756 -0.01566921 0.03307308
+v -0.01808912 -0.01480061 0.03307309
+v -0.01706514 -0.00770618 0.02923810
+v -0.01139771 -0.01499308 0.03009711
+v -0.01422134 -0.01844776 0.03307307
+v -0.01305836 -0.01765809 0.02449448
+v -0.01670012 -0.00770617 0.02738651
+v -0.01139771 -0.01451928 0.02840004
+v -0.01564537 -0.01546684 0.02449448
+v -0.01582788 -0.01716089 0.03307308
+v -0.01687308 -0.00770617 0.02837823
+v -0.01139771 -0.01461553 0.02884929
+v -0.01494609 -0.01787404 0.03307307
+v -0.01409083 -0.01690300 0.02449448
+v -0.01483043 -0.01623304 0.02449448
+f 1 2 7
+f 1 7 12
+f 1 12 21
+f 1 21 29
+f 1 29 40
+f 1 40 39
+f 1 39 48
+f 1 48 51
+f 1 51 43
+f 1 43 32
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+f 1 24 14
+f 1 14 9
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+f 43 51 52
+f 43 52 44
+f 45 49 50
+f 45 50 46
+f 47 53 48
+f 48 52 51
+f 48 53 52
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_72.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddf56b9e368e4de64e60eb734ca8fa10f20920a3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_72.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00186851 -0.02299954 -0.00441022
+v 0.00166182 -0.02299135 -0.00444924
+v 0.00166182 -0.02299135 -0.00460912
+v 0.00201844 -0.02297646 -0.00568775
+v 0.00354030 -0.02298837 -0.00456628
+v 0.00343186 -0.02293628 -0.00290090
+v 0.00353594 -0.02267653 0.00000147
+v 0.00201844 -0.02258499 0.00000147
+v 0.00166182 -0.02256117 0.00000147
+v 0.00166182 -0.02296902 -0.00569540
+v 0.00166182 -0.02286482 -0.00587441
+v 0.00505270 -0.02018537 -0.00756885
+v 0.00303666 -0.02290799 -0.00550569
+v 0.00448428 -0.02290874 -0.00406215
+v 0.00581545 -0.02280083 -0.00076811
+v 0.00581545 -0.02280083 -0.00074592
+v 0.00577906 -0.02280083 -0.00074592
+v 0.00518516 -0.02271896 -0.00014234
+v 0.00353594 -0.02261922 0.00024627
+v 0.00201844 -0.02253735 0.00024627
+v 0.00166182 -0.02252470 0.00018813
+v 0.00166182 -0.02102269 -0.00756886
+v 0.00609857 -0.01987797 -0.00756885
+v 0.00683949 -0.01961524 -0.00756885
+v 0.00685695 -0.01960854 -0.00756885
+v 0.00808623 -0.01910540 -0.00756885
+v 0.00909644 -0.01866106 -0.00756885
+v 0.00639261 -0.02215181 -0.00014234
+v 0.00636859 -0.02203272 0.00024627
+v 0.00549449 -0.02244283 0.00024627
+v 0.00518808 -0.02255298 0.00024627
+v 0.00166182 -0.02251279 0.00024627
+v 0.00166182 -0.01786020 -0.00756885
+v 0.00909644 -0.01539660 -0.00756884
+v 0.00909644 -0.01866630 0.00024628
+v 0.00166182 -0.01786098 0.00024628
+v 0.00166182 -0.01786022 -0.00268210
+v 0.00909644 -0.01539961 0.00024629
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 21
+f 2 21 32
+f 2 32 36
+f 2 36 37
+f 2 37 33
+f 2 33 22
+f 2 22 11
+f 2 11 10
+f 2 10 3
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+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
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+f 16 29 30
+f 16 30 31
+f 16 31 18
+f 16 18 17
+f 18 31 19
+f 19 31 30
+f 19 30 29
+f 19 29 35
+f 19 35 38
+f 19 38 36
+f 19 36 32
+f 19 32 20
+f 20 32 21
+f 27 34 38
+f 27 38 35
+f 27 35 28
+f 28 35 29
+f 33 37 34
+f 34 37 36
+f 34 36 38
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_73.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3382e946edd22fee67a4a2b0927029ce0cf0448
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_73.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.00166109 -0.00497661 -0.03759577
+v 0.00602616 -0.00497661 -0.03759577
+v 0.00166109 -0.00497662 -0.03463930
+v 0.00166109 0.01121708 -0.03759571
+v 0.01135745 -0.00497661 -0.03755591
+v 0.01100627 0.00979335 -0.03759571
+v 0.00201891 -0.00497662 -0.03463900
+v 0.01135745 0.01121707 -0.03460113
+v 0.00166109 0.00363708 -0.03463546
+v 0.00166109 0.01121707 -0.03463601
+v 0.01107935 0.01121708 -0.03759571
+v 0.01135745 -0.00497662 -0.03463842
+v 0.01135745 0.01121391 -0.03758926
+v 0.01112016 -0.00497662 -0.03463842
+v 0.01135745 0.01121707 -0.03505669
+v 0.00166109 0.00479128 -0.03463515
+v 0.01109928 0.01121708 -0.03758956
+v 0.01112016 0.01121708 -0.03757988
+f 1 2 5
+f 1 5 12
+f 1 12 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 16
+f 1 16 10
+f 1 10 4
+f 1 4 11
+f 1 11 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 4 10 8
+f 4 8 15
+f 4 15 18
+f 4 18 17
+f 4 17 11
+f 5 6 13
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+f 5 8 12
+f 6 11 13
+f 7 14 8
+f 8 10 16
+f 8 16 9
+f 8 14 12
+f 11 17 13
+f 13 17 18
+f 13 18 15
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_74.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cc24830cd3f60865d6ff83f3598e84bdb5d04e3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_74.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.01289367 0.01121866 -0.03408157
+v 0.01361719 0.01121865 -0.03194767
+v 0.01761084 0.01121866 -0.03408157
+v 0.01680957 0.00258992 -0.03408160
+v 0.01739584 0.00258991 -0.03194770
+v 0.01727764 0.01121865 -0.03194767
+v 0.01985201 0.00918542 -0.03194768
+v 0.01959735 0.00906464 -0.03408158
+v 0.02067390 0.00258992 -0.03408160
+v 0.02034863 0.00258991 -0.03194770
+v 0.02062392 0.00821654 -0.03194768
+v 0.01992579 0.00854430 -0.03408158
+v 0.02056997 0.00665975 -0.03408159
+v 0.02099837 0.00665974 -0.03194769
+v 0.02011698 0.00816925 -0.03408158
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 12
+f 1 12 15
+f 1 15 13
+f 1 13 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 14
+f 2 14 11
+f 2 11 7
+f 2 7 6
+f 3 7 8
+f 3 6 7
+f 4 9 10
+f 4 10 5
+f 7 11 8
+f 8 11 12
+f 9 13 14
+f 9 14 10
+f 11 14 13
+f 11 13 15
+f 11 15 12
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_75.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f21d6d70c684e9367aafee86bcdce19d90df56cf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_75.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.02103759 -0.00481784 0.00024633
+v -0.02103759 0.00208270 0.00024636
+v -0.01753885 -0.00481784 0.00024633
+v -0.02103759 -0.00481786 0.00573723
+v -0.02103759 0.00208539 0.00174414
+v -0.01908584 0.00208540 0.00024636
+v -0.01801221 0.00208540 0.00024636
+v -0.01753473 -0.00481785 0.00304622
+v -0.02103759 -0.00096148 0.00449988
+v -0.02055977 -0.00481790 0.01527714
+v -0.02071138 -0.00391580 0.01527715
+v -0.02072030 -0.00385431 0.01527715
+v -0.02092611 -0.00240487 0.01527715
+v -0.02093057 -0.00234406 0.01527715
+v -0.02103485 -0.00089530 0.01527716
+v -0.02103485 -0.00083380 0.01527716
+v -0.02103759 0.00208539 0.00261810
+v -0.01801152 0.00208540 0.00130570
+v -0.01753370 -0.00481785 0.00395401
+v -0.02103759 0.00004131 0.00398787
+v -0.01754056 -0.00481790 0.01527714
+v -0.02103450 0.00061563 0.01527716
+v -0.02092885 0.00208534 0.01527717
+v -0.01801152 0.00208539 0.00308744
+v -0.01753439 -0.00481786 0.00547533
+v -0.01801735 0.00208534 0.01527717
+v -0.01753988 -0.00481789 0.01460181
+v -0.01801632 0.00208535 0.01373525
+v -0.01753816 -0.00481788 0.01217269
+v -0.01753919 -0.00481789 0.01369402
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 19
+f 1 19 25
+f 1 25 29
+f 1 29 30
+f 1 30 27
+f 1 27 21
+f 1 21 10
+f 1 10 4
+f 1 4 9
+f 1 9 20
+f 1 20 17
+f 1 17 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 9
+f 5 17 23
+f 5 23 26
+f 5 26 28
+f 5 28 24
+f 5 24 18
+f 5 18 7
+f 5 7 6
+f 7 18 19
+f 7 19 8
+f 9 16 20
+f 10 21 26
+f 10 26 23
+f 10 23 22
+f 10 22 16
+f 10 16 15
+f 10 15 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 16 22 17
+f 16 17 20
+f 17 22 23
+f 18 24 19
+f 19 24 25
+f 21 27 26
+f 24 28 25
+f 25 28 29
+f 26 27 30
+f 26 30 29
+f 26 29 28
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_76.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..306e282f7b700d5f027626d652d005cce1384d01
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_76.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.01299487 -0.01148319 -0.03408165
+v 0.01759682 -0.01148319 -0.03408165
+v 0.01360648 -0.01148320 -0.03194775
+v 0.01739524 0.00258907 -0.03194770
+v 0.01680960 0.00258908 -0.03408160
+v 0.01847338 -0.00996935 -0.03408165
+v 0.01780909 -0.01046525 -0.03194775
+v 0.01718374 -0.01148320 -0.03194775
+v 0.02034868 0.00258907 -0.03194770
+v 0.02067319 0.00258908 -0.03408160
+v 0.01916135 -0.00844724 -0.03408164
+v 0.01880935 -0.00844725 -0.03194774
+v 0.01821454 -0.00971040 -0.03194775
+v 0.02039296 0.00212624 -0.03194770
+v 0.02071366 0.00212625 -0.03408160
+v 0.01980808 -0.00682595 -0.03408164
+v 0.01930031 -0.00720615 -0.03194774
+v 0.02050368 0.00061515 -0.03194771
+v 0.02075336 0.00150501 -0.03408160
+v 0.02003409 -0.00616477 -0.03408163
+v 0.01955458 -0.00645129 -0.03194773
+v 0.02050444 -0.00089456 -0.03194771
+v 0.02079459 -0.00089455 -0.03408161
+v 0.02079001 0.00061516 -0.03408161
+v 0.02027308 -0.00540991 -0.03408163
+v 0.01984167 -0.00542645 -0.03194773
+v 0.02039143 -0.00240565 -0.03194772
+v 0.02072053 -0.00240564 -0.03408162
+v 0.02055865 -0.00391673 -0.03408162
+v 0.02017153 -0.00391674 -0.03194772
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 15
+f 1 15 19
+f 1 19 24
+f 1 24 23
+f 1 23 28
+f 1 28 29
+f 1 29 25
+f 1 25 20
+f 1 20 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 8 7
+f 3 7 13
+f 3 13 12
+f 3 12 17
+f 3 17 21
+f 3 21 26
+f 3 26 30
+f 3 30 27
+f 3 27 22
+f 3 22 18
+f 3 18 14
+f 3 14 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 9 14 10
+f 10 14 15
+f 11 16 12
+f 12 16 17
+f 14 18 15
+f 15 18 19
+f 16 20 17
+f 17 20 21
+f 18 22 23
+f 18 23 24
+f 18 24 19
+f 20 25 21
+f 21 25 26
+f 22 27 28
+f 22 28 23
+f 25 29 30
+f 25 30 26
+f 27 30 29
+f 27 29 28
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_77.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c3ef3ea7a0b71f2a13aebd6b29ad891163a1120
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_77.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.02103793 -0.00481786 0.00573624
+v -0.02345529 -0.00205885 0.00298592
+v -0.02151005 -0.00481785 0.00382906
+v -0.02103793 -0.00481784 0.00024633
+v -0.02103793 -0.00096148 0.00449866
+v -0.02345529 0.00064743 0.00451532
+v -0.02345529 -0.00093377 0.00452016
+v -0.02345529 -0.00160003 0.00390753
+v -0.02345529 -0.00233320 0.00152370
+v -0.02163050 -0.00481785 0.00300096
+v -0.02103793 0.00208270 0.00024636
+v -0.02182999 -0.00481784 0.00024633
+v -0.02103793 0.00004131 0.00398761
+v -0.02345529 0.00065351 0.00451049
+v -0.02103793 0.00208539 0.00261837
+v -0.02345529 -0.00226223 0.00024634
+v -0.02173865 -0.00481785 0.00152369
+v -0.02107603 0.00208540 0.00024636
+v -0.02103793 0.00208539 0.00174405
+v -0.02345529 0.00148535 0.00329655
+v -0.02345529 0.00208540 0.00114057
+v -0.02345529 0.00177726 0.00281452
+v -0.02345529 0.00204486 0.00024636
+v -0.02337554 0.00208540 0.00024636
+v -0.02345529 0.00208540 0.00109650
+f 1 2 3
+f 1 3 10
+f 1 10 17
+f 1 17 12
+f 1 12 4
+f 1 4 11
+f 1 11 19
+f 1 19 15
+f 1 15 13
+f 1 13 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 3
+f 2 8 7
+f 2 7 6
+f 2 6 14
+f 2 14 20
+f 2 20 22
+f 2 22 21
+f 2 21 25
+f 2 25 23
+f 2 23 16
+f 2 16 9
+f 4 12 16
+f 4 16 23
+f 4 23 24
+f 4 24 18
+f 4 18 11
+f 5 13 6
+f 6 13 15
+f 6 15 14
+f 9 16 12
+f 9 12 17
+f 9 17 10
+f 11 18 19
+f 14 15 20
+f 15 19 18
+f 15 18 24
+f 15 24 25
+f 15 25 21
+f 15 21 22
+f 15 22 20
+f 23 25 24
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_78.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae7969af452d9d327d13b56872b0a2caffec16e1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_78.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.01108020 0.01121867 -0.03759624
+v 0.01100644 0.00979334 -0.03759624
+v 0.00808832 0.01121867 -0.03944512
+v 0.00166201 0.01121867 -0.03759624
+v 0.01056111 0.00872649 -0.03759625
+v 0.00925833 0.00700295 -0.03759625
+v 0.00632731 0.00387991 -0.03759627
+v 0.00568191 0.00322242 -0.03759627
+v 0.00649972 0.01121868 -0.03997366
+v 0.00166201 0.01121867 -0.03764651
+v 0.00166201 0.00322242 -0.03759627
+v 0.00244110 0.00322242 -0.03829704
+v 0.00613553 0.01121868 -0.03985241
+v 0.00201882 0.00322242 -0.03837408
+v 0.00184088 0.00322242 -0.03836291
+v 0.00166201 0.00322242 -0.03835150
+v 0.00166201 0.01003598 -0.03778545
+v 0.00505403 0.01121868 -0.03948026
+v 0.00166201 0.00514869 -0.03822721
+f 1 2 3
+f 1 3 9
+f 1 9 13
+f 1 13 18
+f 1 18 10
+f 1 10 4
+f 1 4 11
+f 1 11 8
+f 1 8 7
+f 1 7 6
+f 1 6 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 4 10 17
+f 4 17 19
+f 4 19 16
+f 4 16 11
+f 8 11 16
+f 8 16 15
+f 8 15 14
+f 8 14 12
+f 8 12 9
+f 9 12 14
+f 9 14 15
+f 9 15 16
+f 9 16 13
+f 10 18 17
+f 13 16 18
+f 16 19 18
+f 17 18 19
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_79.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8275103150f65284f23df4ec875f56aec5b3a3de
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_79.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.00166109 -0.00497819 -0.03826785
+v 0.00201866 -0.00497819 -0.03829208
+v 0.00166109 -0.00497819 -0.03759607
+v 0.00166109 -0.00127282 -0.04059984
+v 0.00272040 -0.00023088 -0.04186402
+v 0.00308572 -0.00497819 -0.03820560
+v 0.00287571 -0.00023088 -0.04186402
+v 0.00602579 -0.00497819 -0.03759607
+v 0.00166109 0.00322242 -0.03759604
+v 0.00166109 -0.00077272 -0.04085217
+v 0.00272040 -0.00005107 -0.04186402
+v 0.00353566 -0.00178415 -0.04056684
+v 0.00287571 -0.00005107 -0.04186402
+v 0.00451809 -0.00089393 -0.04062448
+v 0.00344329 -0.00079841 -0.04131882
+v 0.00435297 -0.00169826 -0.04040475
+v 0.00690503 -0.00122787 -0.03759605
+v 0.00568111 0.00322242 -0.03759604
+v 0.00166109 0.00322242 -0.03835137
+v 0.00166109 -0.00046046 -0.04085217
+v 0.00166109 0.00049237 -0.04084966
+v 0.00166109 0.00099488 -0.04059733
+v 0.00237676 0.00149979 -0.04055178
+v 0.00353566 0.00150461 -0.04055513
+v 0.00344329 0.00051806 -0.04130964
+v 0.00451706 0.00061599 -0.04061864
+v 0.00693186 0.00061598 -0.03759605
+v 0.00692876 0.00025797 -0.03759605
+v 0.00691122 -0.00089394 -0.03759605
+v 0.00634725 0.00212671 -0.03759604
+v 0.00435143 0.00142032 -0.04039679
+v 0.00244074 0.00322242 -0.03829706
+v 0.00184117 0.00322242 -0.03836307
+v 0.00201866 0.00322242 -0.03837435
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 9
+f 1 9 19
+f 1 19 22
+f 1 22 21
+f 1 21 20
+f 1 20 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 17
+f 3 17 29
+f 3 29 28
+f 3 28 27
+f 3 27 30
+f 3 30 18
+f 3 18 9
+f 4 10 5
+f 5 10 20
+f 5 20 11
+f 5 11 13
+f 5 13 7
+f 6 7 12
+f 6 12 8
+f 7 13 14
+f 7 14 15
+f 7 15 12
+f 8 12 15
+f 8 15 16
+f 8 16 14
+f 8 14 17
+f 9 18 32
+f 9 32 34
+f 9 34 33
+f 9 33 19
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 13
+f 11 20 21
+f 13 25 26
+f 13 26 14
+f 13 24 25
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 17
+f 14 16 15
+f 18 30 31
+f 18 31 24
+f 18 24 32
+f 19 33 23
+f 19 23 22
+f 23 33 34
+f 23 34 24
+f 24 34 32
+f 24 31 25
+f 25 31 26
+f 26 31 30
+f 26 30 27
+
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_8.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc1abd86c93d925a8f01006d3a05e641e2457294
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_8.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.02096651 0.00320335 -0.03347187
+v -0.02093267 0.00363071 -0.03347187
+v -0.01766954 0.00320335 -0.03347187
+v -0.02168486 0.00320335 -0.03141894
+v -0.02174600 0.00363856 -0.03149155
+v -0.02170560 0.00514844 -0.03144203
+v -0.02072415 0.00514216 -0.03347186
+v -0.01760622 0.00320649 -0.03347187
+v -0.01760841 0.00320335 -0.03346527
+v -0.02199054 0.00320334 -0.03044198
+v -0.02204731 0.00363855 -0.03042218
+v -0.02072306 0.00514844 -0.03347186
+v -0.02177547 0.00523328 -0.03043867
+v -0.02155167 0.00595287 -0.03126050
+v -0.01142823 0.01393750 -0.03347183
+v -0.01142823 0.01370339 -0.03346523
+v -0.01142823 0.01390752 0.00024640
+v -0.01783330 0.00320323 0.00024636
+v -0.02209862 0.00320334 -0.02890063
+v -0.02208334 0.00363855 -0.02890063
+v -0.02027655 0.00646507 -0.03347186
+v -0.02156805 0.00635035 -0.02543176
+v -0.02258006 0.00320325 -0.00608406
+v -0.02214120 0.00514835 -0.00760559
+v -0.02008987 0.00913132 -0.02890061
+v -0.02004074 0.00904176 -0.02976535
+v -0.01838134 0.01179757 -0.03042215
+v -0.01804182 0.01106542 -0.03347184
+v -0.01877545 0.00975193 -0.03347184
+v -0.01950253 0.00816978 -0.03347185
+v -0.02102656 0.00816975 -0.02433598
+v -0.02095450 0.00816975 -0.02585752
+v -0.01142823 0.01838073 -0.03347181
+v -0.01142823 0.01865713 0.00024642
+v -0.02196216 0.00320323 0.00024636
+v -0.02248508 0.00320325 -0.00456251
+v -0.02214993 0.00514834 -0.00608405
+v -0.01966083 0.00988547 -0.02890060
+v -0.02018048 0.00927271 -0.02737907
+v -0.01778745 0.01270098 -0.03042214
+v -0.01705600 0.01360598 -0.03133309
+v -0.01798286 0.01116440 -0.03347184
+v -0.02026782 0.00940154 -0.02585752
+v -0.01979511 0.01015726 -0.02585751
+v -0.01985843 0.01022165 -0.01673154
+v -0.02171761 0.00617903 -0.00760559
+v -0.01142823 0.01854413 -0.03169612
+v -0.01514878 0.01468851 -0.03347183
+v -0.01568699 0.01525883 -0.03042213
+v -0.01506690 0.01619524 -0.02890058
+v -0.01251557 0.01808534 -0.02985773
+v -0.01188019 0.01842774 0.00024642
+v -0.01142823 0.01871998 0.00000218
+v -0.02207133 0.00320323 -0.00000778
+v -0.01873287 0.01152408 0.00024639
+v -0.02008114 0.00912807 -0.00198478
+v -0.02169796 0.00615388 -0.00608405
+v -0.01710949 0.01367667 -0.03042214
+v -0.01908659 0.01119266 -0.02585751
+v -0.01586385 0.01393907 -0.03347183
+v -0.01587258 0.01392964 -0.03347183
+v -0.01662696 0.01305922 -0.03347183
+v -0.01722412 0.01230349 -0.03347183
+v -0.01722740 0.01229878 -0.03347183
+v -0.01580381 0.01543951 -0.02890058
+v -0.01754400 0.01402851 -0.00304093
+v -0.01983768 0.01012894 -0.01369175
+v -0.01170552 0.01848127 -0.03038911
+v -0.01142823 0.01860696 -0.03065975
+v -0.01430816 0.01678442 -0.02890058
+v -0.01513459 0.01619366 -0.02737904
+v -0.01390532 0.01796430 -0.01270486
+v -0.01437585 0.01687397 -0.02737904
+v -0.01256579 0.01809948 -0.02890057
+v -0.01247299 0.01804281 0.00024642
+v -0.01391515 0.01799257 -0.01139455
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diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_9.obj b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..279a6577a257a9f28a29e83b0d2ab90677401394
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/mesh/vase_004_collision_9.obj
@@ -0,0 +1,91 @@
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diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/vase_004.xml b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/vase_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..78b1415e1193e0aff9fd2e7e69d5f8792d9f8d94
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/mjcf/vase_004.xml
@@ -0,0 +1,174 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="vase_004">
+  <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_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/vase_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/vase_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/vase_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/vase_004_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/vase_004_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/vase_004_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/vase_004_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/vase_004_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/vase_004_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/vase_004_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/vase_004_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/vase_004_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/vase_004_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/vase_004_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/vase_004_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/vase_004_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/vase_004_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/vase_004_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/vase_004_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/vase_004_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/vase_004_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/vase_004_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/vase_004_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/vase_004_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/vase_004_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/vase_004_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/vase_004_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/vase_004_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/vase_004_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/vase_004_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/vase_004_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/vase_004_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/vase_004_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/vase_004_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/vase_004_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/vase_004_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/vase_004_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/vase_004_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/vase_004_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/vase_004_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/vase_004_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/vase_004_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/vase_004_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_44" file="mesh/vase_004_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/vase_004_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/vase_004_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/vase_004_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/vase_004_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/vase_004_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/vase_004_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/vase_004_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/vase_004_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/vase_004_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/vase_004_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/vase_004_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/vase_004_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/vase_004_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/vase_004_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/vase_004_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/vase_004_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/vase_004_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/vase_004_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/vase_004_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/vase_004_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/vase_004_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/vase_004_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/vase_004_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/vase_004_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/vase_004_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/vase_004_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/vase_004_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/vase_004_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/vase_004_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_74" file="mesh/vase_004_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_75" file="mesh/vase_004_collision_75.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_76" file="mesh/vase_004_collision_76.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_77" file="mesh/vase_004_collision_77.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_78" file="mesh/vase_004_collision_78.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_79" file="mesh/vase_004_collision_79.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="vase_004">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_79" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/textures/material_0.png b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/textures/material_0.png
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+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60756a70386a2bd810f95596910dfeb021ded7312807cdb6e65057d1fd611c6e
+size 13176839
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/vase_004.urdf b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/vase_004.urdf
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--- /dev/null
+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/vase_004.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="vase_004">
+   <link name="vase_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/vase_004.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_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="2.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>ce94120c32e050339438d5d6c6e0cf9b</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>decorations</super_category>
+         <category>vase</category>
+         <name>ornate vase</name>
+         <color>black</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>black vase with rusted floral patterns and three curved legs</description>
+         <min_height>0.0922</min_height>
+         <max_height>0.0922</max_height>
+         <real_height>0.0922</real_height>
+         <min_mass>1.5</min_mass>
+         <max_mass>2.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420201145</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>3</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>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Decorative frame is split by small nonfunctional fragments; crimson is not a distinct vase part.","merge_groups":[{"colors":["Gray","Crimson"],"target_part":"ornamental outer frame","reason":"crimson appears as tiny frame fragments"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/vase_004.usd b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/vase_004.usd
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diff --git a/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/video.mp4 b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/video.mp4
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+++ b/dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:606ab064adbcc9c0955ab9824127f4ac7592977e4d4ed4a598c81cd94ccae4b0
+size 459700