diff --git a/.gitattributes b/.gitattributes
index 93b97895091dae38a45784649584075605707c8c..fec4b4b5eb3c37a8f0b51ef323867fee091fd10e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2883,5 +2883,5 @@ dataset/desktop_supplies/decorations/43f2f23186ea5518a5826169d1dfd10c/mesh/mouse
 dataset/desktop_supplies/decorations/43f2f23186ea5518a5826169d1dfd10c/mesh/mouse_pad_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/mesh/vase_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/2fcc8db6f2bd533eaba515390e0a0986/vase_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/4587be1e229e56c0871a9f122bc405d0/mesh/vase_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/4587be1e229e56c0871a9f122bc405d0/vase_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mesh/phone_stand_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/phone_stand_006.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mesh/material.mtl b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f96601d61fa4edc4274d7c465c1d4f475f738ca7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl phone_stand_006_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd phone_stand_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mesh/material_0.png b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1bf1649c23a94a1919d36195e3d356e107a78b2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b85ab3b2e9c858d9b7b6b4268e6290c520d7af1ac31ace1c8b8cc4e5056fcf02
+size 10427657
diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mesh/phone_stand_006.glb b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mesh/phone_stand_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..40d82d8b9c9683f61cca4c895e142e60075039ca
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mesh/phone_stand_006.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcff01c6d223f369c831d31ac884676425c61cecf02c074dc61b43edeea8f59e
+size 13497636
diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mesh/phone_stand_006.mtl b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mesh/phone_stand_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6f75960d7b924190a3364faab8f03c52983c3b46
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mesh/phone_stand_006.mtl
@@ -0,0 +1,6 @@
+newmtl phone_stand_006_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/3ad48429d8a15d63956e3a886e821f1a/mesh/phone_stand_006.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mesh/phone_stand_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db04a04821d3a798b8557a04c502e48c153e7c5d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mesh/phone_stand_006.obj
@@ -0,0 +1,107174 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl phone_stand_006_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mesh/phone_stand_006_collision.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mesh/phone_stand_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1edefef50f34feb11c843eb1f32ae8c6325baeed
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mesh/phone_stand_006_collision.obj
@@ -0,0 +1,13747 @@
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mesh/phone_stand_006_geometry_Looks_material_0.png b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mesh/phone_stand_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1bf1649c23a94a1919d36195e3d356e107a78b2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mesh/phone_stand_006_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b85ab3b2e9c858d9b7b6b4268e6290c520d7af1ac31ace1c8b8cc4e5056fcf02
+size 10427657
diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1bf1649c23a94a1919d36195e3d356e107a78b2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b85ab3b2e9c858d9b7b6b4268e6290c520d7af1ac31ace1c8b8cc4e5056fcf02
+size 10427657
diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..271efae9be4dd201856d926df0f7c355726514b9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl phone_stand_006_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f27aea1e58e3741b42ec06e7212d822600051049
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision.obj
@@ -0,0 +1,13747 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_0.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..858f34df7816fdb83d7085a4ac24b97e1c26ffc3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_1.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fac43710da8dd6763311b373b219a0403fb915db
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_1.obj
@@ -0,0 +1,220 @@
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_10.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04f426cbd5e6bc8e2f77b23635bd4c7f4751d704
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_10.obj
@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_11.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd3d85be9ed5bc9be07bd71173ad380e9df7d33a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_11.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_12.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82b5a8271acf5fa0051de4a0f69e4a81c6a9b300
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_12.obj
@@ -0,0 +1,568 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_13.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80956d0209326376ba381ba8e77157963a9c5051
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_13.obj
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_14.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..809fe8dac774c19ffc19602e226677d578bc836c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_14.obj
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_15.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad0cff7a9596936d1110dd7e5ba72234dcacc46a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_15.obj
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_16.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92ae8cb69c1b3e0e99267a78b2159897f2122cb6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_16.obj
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_17.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e4097bfe2c48ccf22bc74b70f3dbab0f3be6d0c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_17.obj
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_18.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac2dc126db44fd0a50a25f3805aca024cb64e85a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_18.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_19.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d02063a9a321f979dcb9aa4fb612b5ce0633c35
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_19.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_2.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f34e2e5d1fd211da6e0a18c4e7009782292bac6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_2.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.01024622 0.00546933 0.02588630
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_20.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6110fbc13e249f21fc63f386de6707dde85a718
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_20.obj
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_21.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42e217dbccb5c275267d876a9b471418001bbef9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_21.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_22.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22ac867cb86b45f1ece62c7878710f1a25e98cd7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_22.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_23.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac8346159829b18311d01eac6c98a4eea7f446d6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_23.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_24.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63ba3607d273c6b458e12505826b19d7cf8fc854
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_24.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+v 0.01112876 -0.01556687 -0.02986357
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+
diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_25.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19d0a091e03d454a01baa640bcd6871e7162e90f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_25.obj
@@ -0,0 +1,589 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_26.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f496bc1ba103e181a54888c819a170ecba26257
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_26.obj
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_27.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb57015c2d6a27e55226b65ea46d77bc47b6e048
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_27.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_28.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f5dbca40400e5c7970bd9e0e1d34ab405de40a4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_28.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_29.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f53130fce72e24380fda1aaa40501df1aea67a20
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_29.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.00174190 0.01277350 0.01964286
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_3.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54e209126381c807c42a5268af169268891d795a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_3.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_30.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54b0b249bfc2ed2f1aaedc2794ab38d5883ed86d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_30.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_31.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b82b6ad2e0b1785714ade058011ca57ce5103be5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_31.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_32.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..706637d17657179d918e40b6edbe8d42623a54eb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_32.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_33.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad68e997d174898a1ccdde3109539e1d997f7599
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_33.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_34.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..020d663de418ff153e742ba23f8a0d1952fbad49
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_34.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.00949321 -0.02008694 -0.01232715
+v -0.00949321 -0.01977526 -0.01245385
+v -0.01322249 -0.02124950 -0.01244912
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+
diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_35.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..345fcfb1e4db388bd71a67ac759994a3a349673a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_35.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 0.01071870 -0.02772387 -0.02094556
+v 0.02186520 -0.02772387 -0.02094556
+v 0.01071870 -0.02772389 -0.01767860
+v 0.01071870 -0.01668364 -0.02094552
+v 0.02278524 -0.02124901 -0.01694031
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_36.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9b3782f6b656d53146eeffa5e5fa7a520037e56
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_36.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_37.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..095131afc71f0eb6eeee9d5cdc1b2b2e4bd014ae
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_37.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_4.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1040ae9ef6a147a613bd9552e1b9686d92275d47
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_4.obj
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+
diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_5.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00bf1e961e40b795d888de03e51f0f20f73c3859
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_5.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_6.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06dac778ea5ea7b760741739387aa7c1a661f2bf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_6.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_7.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5675ee6fd117e8e360d924107b09675e72e8559
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_7.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_8.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73e76e51346e82be11854d4c642d4c78b5241c51
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_8.obj
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diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_9.obj b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d14914d7895781a78925ad3416952a02936c782a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/mesh/phone_stand_006_collision_9.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.02120530 0.00546935 0.02148314
+v -0.02236345 0.00546935 0.02153228
+v -0.02120530 0.00555685 0.02163874
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+v -0.02471446 0.00650270 0.02588630
+v -0.02485684 0.00584768 0.02588630
+v -0.02482211 0.00546934 0.02473422
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+
diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/phone_stand_006.xml b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/phone_stand_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4d69535f52ab2b50c366d568ab042e462f5abcf3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/mjcf/phone_stand_006.xml
@@ -0,0 +1,90 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="phone_stand_006">
+  <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/phone_stand_006.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/phone_stand_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/phone_stand_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/phone_stand_006_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/phone_stand_006_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/phone_stand_006_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/phone_stand_006_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/phone_stand_006_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/phone_stand_006_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/phone_stand_006_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/phone_stand_006_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/phone_stand_006_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/phone_stand_006_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/phone_stand_006_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/phone_stand_006_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/phone_stand_006_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/phone_stand_006_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/phone_stand_006_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/phone_stand_006_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/phone_stand_006_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/phone_stand_006_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/phone_stand_006_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/phone_stand_006_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/phone_stand_006_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/phone_stand_006_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/phone_stand_006_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/phone_stand_006_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/phone_stand_006_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/phone_stand_006_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/phone_stand_006_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/phone_stand_006_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/phone_stand_006_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/phone_stand_006_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/phone_stand_006_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/phone_stand_006_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/phone_stand_006_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/phone_stand_006_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/phone_stand_006_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/phone_stand_006_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="phone_stand_006">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/phone_stand_006.urdf b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/phone_stand_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5e7c7f64496796aee60696cb9c6d74939d54cf11
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/phone_stand_006.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="phone_stand_006">
+   <link name="phone_stand_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/phone_stand_006.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/phone_stand_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>3ad48429d8a15d63956e3a886e821f1a</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>decorations</super_category>
+         <category>phone_stand</category>
+         <name>wooden phone stand</name>
+         <color>brown</color>
+         <shape>L-shape</shape>
+         <material>wood</material>
+         <description>foldable wooden phone stand with triangular support structure</description>
+         <min_height>0.0866</min_height>
+         <max_height>0.0866</max_height>
+         <real_height>0.0866</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420200558</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/phone_stand_006.usd b/dataset/desktop_supplies/decorations/3ad48429d8a15d63956e3a886e821f1a/phone_stand_006.usd
new file mode 100644
index 0000000000000000000000000000000000000000..86db682cd49f055af1df0eedb11bf331cd80278e
--- /dev/null
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