diff --git a/.gitattributes b/.gitattributes
index 447b2d0cccb6c75ac7e186dbc46fb250f3ff41b8..b15a69c23af7bd8052757e11bcd0f9fc137e8b60 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2865,5 +2865,5 @@ dataset/bedroom_supplies/storage/f880cefdb848575892531b8b332cf4e1/glasses_case_0
 dataset/bedroom_supplies/storage/f880cefdb848575892531b8b332cf4e1/mesh/glasses_case_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/mesh/storage_box_039.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/fc65391e450f58dda97090f799409b5d/storage_box_039.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/jewelry_box_016.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/fe3328748fc950b1b5fe6ba021e80dac/mesh/jewelry_box_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mesh/mini_sculpture_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mini_sculpture_009.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mesh/material.mtl b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9e10aa230f3e63f9ddcdbdacec5259ce2a814f8d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mini_sculpture_009_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mesh/material_0.png b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mesh/mini_sculpture_009.glb b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mesh/mini_sculpture_009.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mesh/mini_sculpture_009.glb
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mesh/mini_sculpture_009.mtl b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mesh/mini_sculpture_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4a1437047f8e561ea199c71092969cd2cddd751c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mesh/mini_sculpture_009.mtl
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+newmtl mini_sculpture_009_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mesh/mini_sculpture_009.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mesh/mini_sculpture_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81f9cdf8bcb54edebece9b764183ab8aeff32921
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mesh/mini_sculpture_009.obj
@@ -0,0 +1,113322 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mini_sculpture_009_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mesh/mini_sculpture_009_collision.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mesh/mini_sculpture_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79b8fc454d6537fc6e41c685b7f7be3cfa044f73
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mesh/mini_sculpture_009_collision.obj
@@ -0,0 +1,15366 @@
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mesh/mini_sculpture_009_geometry_Looks_material_0.png b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mesh/mini_sculpture_009_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..df2a11ee00b9c7f53e3c1858ddbc7cbaccdab0aa
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mesh/mini_sculpture_009_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f27e7c6faba56664e0b7f03333ac80fb83599f1827bcf9cee9f19f83846685b2
+size 10926631
diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mini_sculpture_009.urdf b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mini_sculpture_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..476c7e0d4cfa004334baa1cf3b39863a8dc5bb29
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mini_sculpture_009.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mini_sculpture_009">
+   <link name="mini_sculpture_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mini_sculpture_009.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/mini_sculpture_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>0c823dfebe8a55f0af3f9348d4bd6fa1</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>decorations</super_category>
+         <category>mini_sculpture</category>
+         <name>fish sculpture</name>
+         <color>blue</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>blue fish sculpture on wave-shaped base</description>
+         <min_height>0.0902</min_height>
+         <max_height>0.0902</max_height>
+         <real_height>0.0902</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420200113</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>6</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mini_sculpture_009.usd b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mini_sculpture_009.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b8c60d363436cdd5e63a4ea05792bde40f3ac6a5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mini_sculpture_009.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e1afac22f15e1c94f607969c79f61ad68c87428777212ac3b9f3599914ff87b
+size 5022477
diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..df2a11ee00b9c7f53e3c1858ddbc7cbaccdab0aa
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f27e7c6faba56664e0b7f03333ac80fb83599f1827bcf9cee9f19f83846685b2
+size 10926631
diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..729494db3b6c15333e748ea642687adb59dfadb4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009.obj
@@ -0,0 +1,113322 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mini_sculpture_009_geometry_Looks_material_0
+v -0.002032 0.008262 0.034339
+v -0.002032 0.008262 0.034339
+v -0.002032 0.008262 0.034339
+v -0.002013 0.006298 0.032830
+v -0.002013 0.006298 0.032830
+v -0.002058 0.005908 0.032515
+v -0.002058 0.005908 0.032515
+v -0.002058 0.005908 0.032515
+v -0.001809 0.007208 0.003392
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bc341f72441206d3b73c85054cb4a745a443902
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision.obj
@@ -0,0 +1,15366 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_0.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a33ae34c5495caf27defff35b9f7b8e6d2a6c691
--- /dev/null
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_1.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6817ac26b10572c66ed404e64a0f76f6f0518f78
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_1.obj
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_10.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a698b650d221353fb2ed9f42ca8c9ec68a90800
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_10.obj
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_11.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53c1bfc9a2afdcc4c573e1e24d5518ad0f33173a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_11.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_12.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33e88c9bb73ebc35aabdf2e2c95049614a5551d1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_12.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_13.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24797ea77a9fc70f64d9d4b0c89694efa1bf7f40
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_13.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_14.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98a1ee1e1ccd9916fa5ec2fd52d2e3b57a70121c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_14.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_15.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8450b1af50cff435ff9046aaa41afdae5d33f0c4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_15.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00241595 0.02030536 -0.00792116
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+
diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_16.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f60d3f3b4a90738e54c3c66e507e84593cdec15
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_16.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_17.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf287bc53b7dff375eb0cc1b401fb8340c197e0b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_17.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_18.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bff58c9501512bc6b072ae69a162cfa9e7020c3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_18.obj
@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_19.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b4fd94730aebc00402b54a5eaaf03be41629b41
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_19.obj
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_2.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c96ea948f47192c66eaab4f0620352a7f1aaeb23
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_2.obj
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_20.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..260dfd2b08209a00cbe33a9a1f8cc160dd275db4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_20.obj
@@ -0,0 +1,448 @@
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_21.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..409b680fba7b86b2a89f90f03293d059b605b74f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_21.obj
@@ -0,0 +1,916 @@
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_22.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46e0ccf42ad6ed6bbff5726e7a3217c0f5f02def
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_22.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_23.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c245854407caa9146e163701805913ab5b14078
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_23.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.00194448 -0.01464431 0.00180283
+v -0.00520702 -0.01460258 -0.00466965
+v -0.00361378 -0.01474477 0.00180283
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+
diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_24.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a694ff8e15c57632a71ed44189ec93e3aa048e5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_24.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
+v 0.00116102 -0.00527323 0.00282844
+v 0.00116102 -0.00489872 0.00286362
+v 0.00137880 -0.00527323 0.00293752
+v 0.00116102 -0.00527336 0.03877629
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+v 0.00116102 0.01043360 0.00577372
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+v 0.00285291 -0.00527323 0.00401075
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_25.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58b1c8855fd0df9e1f614122c02a71d40b2ee741
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_25.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_26.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db715953971f0abb23dea9295a3b8b0a65879330
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_26.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_27.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37dbbe1404c2970ae3a0055db66435b435dea914
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_27.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_28.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b87da702b888b2bbcbc068b574cbb5985e39087
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_28.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_29.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d93f7151ec735c69b059b5b505dc9f4176c97ca3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_29.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.00016831 -0.01469897 0.00180283
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+v 0.00319307 -0.01478868 -0.00636034
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+v 0.00264951 -0.01501352 0.00040120
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_3.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef8b12f90fcf90219ebafa3f110ca10506baa6c3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_3.obj
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_30.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f16ed64aefae8d58641417eeebc43bd2263f4a0a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_30.obj
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_31.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de14c6fda561d3b0e69d804d36eefc0261783327
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_31.obj
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_32.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..001c5765c71e815966f67476c9eee148d40f370e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_32.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_33.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..435573b43925491205e4d07a541ff103af59a9f3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_33.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_4.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8109e1a94c091108ef3906e7308189edd821ec2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_4.obj
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_5.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa33ca56cec3d22f982378154c71d65d316a38b8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_5.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_6.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34b55286e4f4b18172e5d232370d789914aa4082
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_6.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_7.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfeffa3e59d5c9ea115e2c344235ef7a756ad240
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_7.obj
@@ -0,0 +1,208 @@
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_8.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..461cdcb9e6e5bfc5cc5155a6d1db404241a0662f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_8.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_9.obj b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4ad9a880fe7abdf6be96c02f57d1ba0c7a835cb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mesh/mini_sculpture_009_collision_9.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mini_sculpture_009.xml b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mini_sculpture_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2de63997cdc8688345b8cc79ec55d50e188c1629
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0c823dfebe8a55f0af3f9348d4bd6fa1/mjcf/mini_sculpture_009.xml
@@ -0,0 +1,82 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mini_sculpture_009">
+  <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/mini_sculpture_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mini_sculpture_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mini_sculpture_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
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