diff --git a/.gitattributes b/.gitattributes
index 27f13a96c62860f7f7289754ed56256b17792674..10d2a9e5027ceffb83260b0f289555a44dedc256 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/fe29792ce9a659b5a8302a672285e56a/mesh/pill_organizer_020.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/fe29792ce9a659b5a8302a672285e56a/pill_organizer_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mesh/phone_stand_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/phone_stand_009.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mesh/material.mtl b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6303df48d0e9ea4f5111bbb47e7f0a5c7f070434
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl phone_stand_009_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_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mesh/material_0.png b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..734b69f32aafd927922ecaec0b15500c7b983363
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7576512f4c3149bb11bee17089ba1716928a272d79605c080fe153f242da7e1
+size 8972339
diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mesh/phone_stand_009.glb b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mesh/phone_stand_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8c726ae7cdebcb32ab0f137096eef535dbb08baf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mesh/phone_stand_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:195477bb3ad1c1d749f99ebac714577a60bbf80dadd1e9fa3d57dbbdab331564
+size 12312852
diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mesh/phone_stand_009.mtl b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mesh/phone_stand_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4dd90d05e11e0b3348e6e0bc4e7e9efdd1b527f9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mesh/phone_stand_009.mtl
@@ -0,0 +1,6 @@
+newmtl phone_stand_009_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/019e87a64f6f5e92b261bcaec3069c74/mesh/phone_stand_009.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mesh/phone_stand_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..671783f90fa0401c722f4f73ce35ba1606aa486c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mesh/phone_stand_009.obj
@@ -0,0 +1,109650 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl phone_stand_009_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mesh/phone_stand_009_collision.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mesh/phone_stand_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da8f855018fae073d1c6a192a5acc3d28f9dad77
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mesh/phone_stand_009_collision.obj
@@ -0,0 +1,24799 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mesh/phone_stand_009_geometry_Looks_material_0.png b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mesh/phone_stand_009_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..734b69f32aafd927922ecaec0b15500c7b983363
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mesh/phone_stand_009_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7576512f4c3149bb11bee17089ba1716928a272d79605c080fe153f242da7e1
+size 8972339
diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..734b69f32aafd927922ecaec0b15500c7b983363
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+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7576512f4c3149bb11bee17089ba1716928a272d79605c080fe153f242da7e1
+size 8972339
diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc8a2c55843363c12fdfc89097a96ce3a4e0f427
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+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3266054d4511310b3dcb802715ea54989069a5b2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision.obj
@@ -0,0 +1,24799 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_0.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d79033397975d75b024ee234acae61169eb2f90
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_1.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9abd195fd2a26950ce37a75128d8e8dfc1c75728
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_1.obj
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diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_10.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbdc93af78a95d60e5585a417ce9c89319d991f0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_10.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.02138902 0.00419829 0.02428650
+v -0.02121750 0.00363196 0.02428649
+v -0.02098742 0.00419826 0.03153527
+v 0.02134805 0.00419829 0.02428650
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+v -0.01914256 -0.00078413 0.03153525
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+v 0.02006795 0.00098223 0.02428648
+v 0.02077912 0.00256611 0.02428649
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+
diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_11.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..614f27bc9826ee229c4a139839435e77e629d139
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_11.obj
@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
+v 0.01536470 0.01888340 -0.02598198
+v 0.01343794 0.01889458 -0.02603156
+v 0.01370793 0.01880999 -0.02602742
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diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_12.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d20640439c9285f51e3446b01be2d054771995c1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_12.obj
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diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_13.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..896ec336658e117fd7b2074c9bae378a3810ff8c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_13.obj
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diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_14.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..698c94f32429b5347ef0411aaf6a676e463440f3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_14.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.02235077 0.01076784 0.02428581
+v -0.02268015 0.01081574 0.03167590
+v -0.02235077 0.01081577 0.02428581
+v -0.02232406 0.00969253 0.02428581
+v -0.02268906 0.01081574 0.03190428
+v -0.02229290 0.00914452 0.02428580
+v 0.02231260 0.01081577 0.02428581
+v -0.02274692 0.01081574 0.03353839
+v -0.02219497 0.00806987 0.02428580
+v 0.02256632 0.01081575 0.03031673
+v 0.02231260 0.01076784 0.02428581
+v -0.02268015 0.01034740 0.03353839
+v -0.02276918 0.01081573 0.03517250
+v -0.02212375 0.00752185 0.02428580
+v 0.02263309 0.01081574 0.03190428
+v 0.02225919 0.00914452 0.02428580
+v -0.02268906 0.01027225 0.03517250
+v -0.02276028 0.01081573 0.03561151
+v -0.02268461 0.01029492 0.03561151
+v -0.02194126 0.00644720 0.02428579
+v 0.02265979 0.01081574 0.03276346
+v 0.02208114 0.00752185 0.02428580
+v 0.02268205 0.01081574 0.03353839
+v -0.02247095 0.00914448 0.03517249
+v 0.02269540 0.01081573 0.03561151
+v -0.02246205 0.00914448 0.03561150
+v -0.02182998 0.00589918 0.02428579
+v 0.02178736 0.00589918 0.02428579
+v 0.02261083 0.01029364 0.03353839
+v 0.02261973 0.01022755 0.03517250
+v 0.02270431 0.01081573 0.03517250
+v -0.02136260 0.00462886 0.03561149
+v 0.02264644 0.01047241 0.03561151
+v -0.02156290 0.00482453 0.02428579
+v 0.02157370 0.00544052 0.03561149
+v 0.02136004 0.00423959 0.02428579
+v 0.02241053 0.00914448 0.03517249
+v 0.02261528 0.01025476 0.03561151
+v 0.02255742 0.00993735 0.03561151
+v -0.02140266 0.00424542 0.02428579
+v -0.02138485 0.00419878 0.02428579
+v -0.02107327 0.00419874 0.03561149
+v 0.02129327 0.00459777 0.03561149
+v 0.02134669 0.00419878 0.02428579
+v 0.02240162 0.00914448 0.03561150
+v 0.02115529 0.00419874 0.03561149
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 16
+f 1 16 22
+f 1 22 28
+f 1 28 36
+f 1 36 44
+f 1 44 41
+f 1 41 40
+f 1 40 34
+f 1 34 27
+f 1 27 20
+f 1 20 14
+f 1 14 9
+f 1 9 6
+f 1 6 4
+f 1 4 2
+f 2 5 8
+f 2 8 13
+f 2 13 18
+f 2 18 25
+f 2 25 31
+f 2 31 23
+f 2 23 21
+f 2 21 15
+f 2 15 10
+f 2 10 7
+f 2 7 3
+f 2 4 6
+f 2 6 5
+f 5 6 8
+f 6 9 8
+f 7 10 11
+f 8 12 13
+f 8 9 14
+f 8 14 12
+f 10 15 11
+f 11 15 16
+f 12 17 13
+f 12 14 17
+f 13 17 19
+f 13 19 18
+f 14 20 17
+f 15 21 16
+f 16 21 23
+f 16 23 22
+f 17 24 19
+f 17 20 24
+f 18 19 26
+f 18 26 32
+f 18 32 42
+f 18 42 46
+f 18 46 43
+f 18 43 35
+f 18 35 45
+f 18 45 39
+f 18 39 38
+f 18 38 33
+f 18 33 25
+f 19 24 26
+f 20 27 24
+f 22 23 29
+f 22 29 30
+f 22 30 28
+f 23 31 29
+f 24 27 32
+f 24 32 26
+f 25 33 31
+f 27 34 32
+f 28 35 36
+f 28 30 37
+f 28 37 35
+f 29 31 30
+f 30 31 38
+f 30 38 39
+f 30 39 37
+f 31 33 38
+f 32 34 40
+f 32 40 41
+f 32 41 42
+f 35 43 44
+f 35 44 36
+f 35 37 45
+f 37 39 45
+f 41 44 46
+f 41 46 42
+f 43 46 44
+
diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_15.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..791ce6b6594ac613b33ccc3ebb403b2eb4e7661c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_15.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.00007220 0.01519496 -0.02591286
+v -0.00007220 0.01542666 -0.03018691
+v -0.01177405 0.01542665 -0.02819055
+v -0.00023256 0.01519496 -0.02591286
+v -0.00007220 -0.00024803 -0.02591292
+v -0.00007220 0.01542670 -0.03948566
+v -0.01049574 0.01267867 -0.02591287
+v -0.01003412 0.01290575 -0.02591287
+v -0.00919795 0.01329700 -0.02591287
+v -0.00886233 0.01343816 -0.02591287
+v -0.00733317 0.01400586 -0.02591287
+v -0.00671577 0.01419151 -0.02591287
+v -0.00566082 0.01450452 -0.02591287
+v -0.00502968 0.01464568 -0.02591287
+v -0.00403200 0.01486048 -0.02591287
+v -0.00350166 0.01493566 -0.02591287
+v -0.00252116 0.01507375 -0.02591286
+v -0.00084996 0.01519343 -0.02591286
+v -0.01177405 0.01542670 -0.03973048
+v -0.01177405 0.01197288 -0.02591288
+v -0.01177405 -0.00024803 -0.02591292
+v -0.00007220 -0.00024799 -0.03905967
+v -0.01177405 -0.00024799 -0.03907455
+f 1 2 3
+f 1 3 4
+f 1 4 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 7
+f 1 7 20
+f 1 20 21
+f 1 21 5
+f 1 5 22
+f 1 22 6
+f 1 6 2
+f 2 6 19
+f 2 19 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 18
+f 3 18 4
+f 3 19 23
+f 3 23 21
+f 3 21 20
+f 3 20 7
+f 5 21 23
+f 5 23 22
+f 6 22 19
+f 19 22 23
+
diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_16.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b53a159156a99dc54419753c94cb9fe6ccc77ee
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_16.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.01909455 -0.00078458 0.02429020
+v 0.01908332 -0.00078458 0.02428618
+v 0.01851056 -0.00078459 0.02839537
+v 0.01703561 -0.00378856 0.02839536
+v 0.01572537 -0.00574556 0.02616334
+v 0.01818113 -0.00212389 0.02428617
+v 0.01908707 -0.00078944 0.02428618
+v -0.01914943 -0.00078458 0.02428618
+v -0.01856544 -0.00078459 0.02839537
+v 0.01700192 -0.00379245 0.02839536
+v -0.01571286 -0.00574556 0.02616334
+v 0.01493548 -0.00574555 0.02428616
+v 0.01529861 -0.00547507 0.02428616
+v 0.01685592 -0.00372202 0.02428617
+v 0.01748858 -0.00300284 0.02428617
+v 0.01763083 -0.00283579 0.02428617
+v 0.01774688 -0.00268817 0.02428617
+v -0.01824724 -0.00211466 0.02428617
+v -0.01706802 -0.00379245 0.02839536
+v -0.01536846 -0.00546778 0.02428616
+v -0.01497538 -0.00574555 0.02428616
+v -0.01770442 -0.00282365 0.02428617
+v -0.01692202 -0.00371085 0.02428617
+f 1 2 8
+f 1 8 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 6
+f 2 6 17
+f 2 17 16
+f 2 16 15
+f 2 15 14
+f 2 14 13
+f 2 13 12
+f 2 12 21
+f 2 21 20
+f 2 20 23
+f 2 23 22
+f 2 22 18
+f 2 18 8
+f 3 9 19
+f 3 19 10
+f 3 10 4
+f 4 10 5
+f 5 10 19
+f 5 19 11
+f 5 11 21
+f 5 21 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 8 18 19
+f 8 19 9
+f 11 20 21
+f 11 19 18
+f 11 18 22
+f 11 22 23
+f 11 23 20
+
diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_17.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b423465645445b2814d592867945551300d70091
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_17.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.01177455 0.01542664 -0.02819126
+v -0.01264541 0.01542664 -0.02759174
+v -0.01612690 0.01296881 -0.02757159
+v -0.01605735 0.01296881 -0.02762535
+v -0.01177455 0.01540451 -0.02821680
+v -0.01177455 0.01542669 -0.03972993
+v -0.01381137 0.01542664 -0.02711723
+v -0.01657251 0.01296881 -0.02731619
+v -0.01177455 0.01296882 -0.03115390
+v -0.01177455 0.01296886 -0.03954713
+v -0.01684922 0.01296886 -0.03980790
+v -0.01684922 0.01401431 -0.03987377
+v -0.01544034 0.01542669 -0.03989124
+v -0.01587602 0.01542664 -0.02645051
+v -0.01684922 0.01426763 -0.02658897
+v -0.01684922 0.01401258 -0.02670323
+v -0.01684922 0.01296881 -0.02720731
+v -0.01684922 0.01542669 -0.03995307
+v -0.01666889 0.01542664 -0.02626097
+v -0.01684922 0.01536770 -0.02623678
+v -0.01684922 0.01542664 -0.02622065
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 10
+f 1 10 6
+f 1 6 13
+f 1 13 18
+f 1 18 21
+f 1 21 19
+f 1 19 14
+f 1 14 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 17
+f 3 17 11
+f 3 11 10
+f 3 10 9
+f 3 9 4
+f 4 9 5
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 11 17 16
+f 11 16 15
+f 11 15 20
+f 11 20 21
+f 11 21 18
+f 11 18 12
+f 12 18 13
+f 14 19 15
+f 15 19 20
+f 19 21 20
+
diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_18.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5ebda50d8b281606745b711a07d197376fad127
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_18.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.01475946 -0.00768313 0.01820261
+v 0.01433988 -0.00768313 0.01918144
+v 0.01437171 -0.00799544 0.01820261
+v -0.01480176 -0.00768313 0.01820261
+v 0.01426754 -0.00768313 0.01934154
+v 0.01371776 -0.00846743 0.01820261
+v 0.01325478 -0.00810044 0.02027018
+v -0.01458763 -0.00786629 0.01820261
+v -0.01434457 -0.00768313 0.01926160
+v 0.01383061 -0.00768313 0.02027018
+v 0.01328661 -0.00876632 0.01820261
+v 0.01305512 -0.00823160 0.02027018
+v 0.01245903 -0.00931580 0.01820261
+v -0.01440533 -0.00799880 0.01820261
+v -0.01383239 -0.00825609 0.01867097
+v -0.01400022 -0.00768313 0.01999370
+v -0.01387001 -0.00768313 0.02027018
+v 0.01212337 -0.00880725 0.02027018
+v 0.01174431 -0.00973847 0.01820260
+v 0.01051452 -0.00979885 0.02027017
+v -0.01378899 -0.00844663 0.01820261
+v -0.01331154 -0.00808669 0.02027018
+v 0.01132473 -0.00996222 0.01820260
+v 0.01032643 -0.00990687 0.02027017
+v -0.01252159 -0.00930540 0.01820261
+v -0.01220039 -0.00878745 0.02027018
+v 0.01056371 -0.01035504 0.01820260
+v 0.01009205 -0.01002159 0.02027017
+v -0.01180686 -0.00973277 0.01820260
+v -0.01039188 -0.00990419 0.02027017
+v 0.00923265 -0.01099240 0.01820260
+v 0.00779741 -0.01110981 0.02027017
+v -0.01063784 -0.01034799 0.01820260
+v -0.00964533 -0.01084044 0.01820260
+v -0.00825060 -0.01110981 0.01955811
+v -0.00895665 -0.01057677 0.02027017
+v 0.00894907 -0.01110981 0.01820260
+v -0.00778473 -0.01110981 0.02027017
+v -0.00903767 -0.01110981 0.01820260
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 13
+f 1 13 19
+f 1 19 23
+f 1 23 27
+f 1 27 31
+f 1 31 37
+f 1 37 39
+f 1 39 34
+f 1 34 33
+f 1 33 29
+f 1 29 25
+f 1 25 21
+f 1 21 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 7
+f 3 7 6
+f 4 8 9
+f 5 10 7
+f 6 7 11
+f 7 12 13
+f 7 13 11
+f 7 10 17
+f 7 17 22
+f 7 22 26
+f 7 26 30
+f 7 30 36
+f 7 36 38
+f 7 38 32
+f 7 32 28
+f 7 28 24
+f 7 24 20
+f 7 20 18
+f 7 18 12
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 12 18 13
+f 13 18 20
+f 13 20 19
+f 14 21 15
+f 15 21 22
+f 15 22 17
+f 15 17 16
+f 19 20 24
+f 19 24 23
+f 21 25 22
+f 22 25 26
+f 23 24 27
+f 24 28 27
+f 25 29 30
+f 25 30 26
+f 27 28 31
+f 28 32 31
+f 29 33 30
+f 30 33 34
+f 30 34 35
+f 30 35 36
+f 31 32 37
+f 32 38 35
+f 32 35 39
+f 32 39 37
+f 34 39 35
+f 35 38 36
+
diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_19.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10ce3005d9596e30e8185eb1c5e6dd8547166b60
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_19.obj
@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
+v 0.01315894 -0.00768314 0.02174306
+v 0.01278264 -0.00768315 0.02428574
+v 0.02230779 -0.00768932 0.02428574
+v 0.02347432 -0.00786497 0.02428574
+v 0.02278287 -0.00935338 0.02280369
+v 0.02184682 -0.00925477 0.02265484
+v 0.02160693 -0.01055367 0.02174305
+v -0.01320104 -0.00768314 0.02174306
+v -0.01285296 -0.00768315 0.02428574
+v 0.02399174 -0.00828407 0.02428574
+v 0.02281109 -0.01033179 0.02274718
+v 0.02168219 -0.01149356 0.02174305
+v -0.02167724 -0.01056291 0.02174305
+v -0.02285319 -0.00936263 0.02280967
+v -0.02355405 -0.00788038 0.02428574
+v -0.02333297 -0.00781566 0.02428574
+v -0.02238281 -0.00770318 0.02428574
+v 0.02394470 -0.00892967 0.02428574
+v 0.02346021 -0.01033180 0.02373389
+v 0.02273583 -0.01133794 0.02280368
+v 0.02170100 -0.01192807 0.02174305
+v -0.02177132 -0.01192653 0.02174305
+v -0.02288141 -0.01033179 0.02275066
+v -0.02406206 -0.00819624 0.02428574
+v 0.02376126 -0.01033180 0.02428573
+v 0.02298984 -0.01190959 0.02373189
+v 0.02251476 -0.01241960 0.02318601
+v 0.02129177 -0.01326858 0.02174304
+v -0.02170547 -0.01236104 0.02174304
+v -0.02281086 -0.01133178 0.02280269
+v -0.02404795 -0.00951826 0.02428574
+v -0.02406206 -0.00825017 0.02428574
+v 0.02325325 -0.01188956 0.02428573
+v 0.02279698 -0.01309756 0.02427552
+v 0.02244420 -0.01392805 0.02428572
+v 0.02228427 -0.01361373 0.02373188
+v 0.02118829 -0.01469382 0.02267224
+v 0.02140937 -0.01350586 0.02211641
+v 0.02089195 -0.01410061 0.02174304
+v -0.02136209 -0.01326703 0.02174304
+v -0.02258507 -0.01241498 0.02319422
+v -0.02306956 -0.01190651 0.02373687
+v -0.02358228 -0.01118387 0.02428573
+v -0.02383628 -0.01033180 0.02428573
+v 0.02279698 -0.01310372 0.02428572
+v 0.02182800 -0.01524236 0.02428571
+v 0.02151755 -0.01522079 0.02369180
+v 0.02091077 -0.01577393 0.02311879
+v 0.02054387 -0.01522078 0.02211640
+v 0.02075084 -0.01436563 0.02174304
+v -0.02107987 -0.01385254 0.02174304
+v -0.02126331 -0.01469074 0.02267448
+v -0.02147969 -0.01350586 0.02211791
+v -0.02235929 -0.01361527 0.02373686
+v -0.02251922 -0.01392959 0.02428572
+v -0.02287200 -0.01310372 0.02428572
+v -0.02332827 -0.01188802 0.02428573
+v 0.02125414 -0.01639797 0.02428571
+v 0.02123533 -0.01638102 0.02420830
+v 0.02063795 -0.01688178 0.02369180
+v 0.01951845 -0.01778931 0.02277453
+v 0.01975364 -0.01670150 0.02217789
+v 0.01961723 -0.01641953 0.02174303
+v 0.02028987 -0.01521462 0.02174303
+v -0.02082586 -0.01435947 0.02174304
+v -0.02098579 -0.01577085 0.02311929
+v -0.02131506 -0.01638718 0.02420880
+v -0.02159258 -0.01521925 0.02369180
+v -0.02219937 -0.01462142 0.02428572
+v 0.02095780 -0.01679858 0.02428571
+v 0.01982419 -0.01804971 0.02373386
+v 0.01903396 -0.01732398 0.02174303
+v 0.01912333 -0.01719610 0.02174303
+v 0.01917977 -0.01710981 0.02174303
+v 0.01805557 -0.01947958 0.02258037
+v 0.01857769 -0.01841179 0.02213282
+v 0.01838484 -0.01825155 0.02174302
+v -0.02035548 -0.01521308 0.02174303
+v -0.02061419 -0.01521924 0.02211790
+v -0.01982395 -0.01669379 0.02217888
+v -0.01959347 -0.01779085 0.02277602
+v -0.02071768 -0.01688486 0.02369180
+v -0.02133387 -0.01640413 0.02428571
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diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_2.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfa270c5ab4ad9c6983126137028643a8fd77c31
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_2.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.00108494 0.01517634 -0.02591286
+v -0.00006956 0.01517634 -0.02591286
+v 0.00139175 0.01515521 -0.02591286
+v 0.01343794 0.01517634 -0.02747424
+v -0.00007220 0.01517634 -0.02606629
+v -0.00007220 0.01362122 -0.02591287
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+v 0.01343794 0.01517639 -0.03978328
+v 0.00369678 0.01490307 -0.02591287
+v 0.00442148 0.01476114 -0.02591287
+v 0.00558788 0.01451504 -0.02591287
+v 0.00725681 0.01401831 -0.02591287
+v 0.00776860 0.01383562 -0.02591287
+v 0.00880672 0.01344760 -0.02591287
+v 0.00951688 0.01312751 -0.02591287
+v 0.01042275 0.01269721 -0.02591287
+v 0.01093322 0.01241789 -0.02591287
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+
diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_20.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87189b76c48fa35ba1805e990e51b0f9cf1ed7dc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_20.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.01684922 -0.00024669 -0.03921400
+v -0.01684922 0.01296733 -0.03980835
+v -0.01177455 -0.00024669 -0.03907391
+v -0.01684922 -0.00024673 -0.02591292
+v -0.01177455 0.01296733 -0.03954720
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+
diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_21.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02053e4846f54c870b2f7a8d83de188a4ab380f4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_21.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00755881 0.01510834 -0.03984294
+v 0.00755881 0.01510834 -0.02693877
+v 0.00755881 0.01610834 -0.03984294
+v 0.00755881 0.01610834 -0.02693877
+v 0.01343794 0.01510834 -0.03984294
+v 0.01343794 0.01510834 -0.02693877
+v 0.01343794 0.01610834 -0.03984294
+v 0.01343794 0.01610834 -0.02693877
+f 2 4 1
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+f 6 2 5
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+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_22.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..449a040fd73c7bab94b2a537a486af9db0ec7e18
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_22.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00007145 0.01510834 -0.03964031
+v -0.00007145 0.01510834 -0.02591286
+v -0.00007145 0.01610834 -0.03964031
+v -0.00007145 0.01610834 -0.02591286
+v 0.00755824 0.01510834 -0.03964031
+v 0.00755824 0.01510834 -0.02591286
+v 0.00755824 0.01610834 -0.03964031
+v 0.00755824 0.01610834 -0.02591286
+f 2 4 1
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+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_23.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f46b793fd76e4ee9cee937ec8aaaa06e607f65d1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_23.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.01970604 -0.00024799 -0.03940422
+v 0.01343794 -0.00024799 -0.03909560
+v 0.01970604 0.00863319 -0.03974124
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diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_24.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a39c78c96ba3d3846fb0039c0ec36429bfeb7234
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_24.obj
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diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_25.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32627de87cfec87576e950221d98d6df845c06f6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_25.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_26.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06dfda9f7d8f4df49f6d5029706e8a91070c4c67
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_26.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_27.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aabda89d93fb625670724dbfb6d2dcc5b02a8a76
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_27.obj
@@ -0,0 +1,859 @@
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diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_28.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3c73f1d1310d27bc36ee28cdd3c6eb66f3dd6f5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_28.obj
@@ -0,0 +1,511 @@
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diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_29.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10764c7761a6a5932e967e7fc0117623b17086b5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_29.obj
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diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_3.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d12ff6c09f4e56179b8268d60db76c6a6803cdc3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_3.obj
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diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_30.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96b76a6229f714d3e983473220150c9a15d1fbd4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_30.obj
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diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_31.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fb33b3d2ba3e9c5b726273a94c39e3e94de5066
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_31.obj
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diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_4.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a1ca582d4a765fc01e1d703977fbecd9abe4271
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_4.obj
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diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_5.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c81a184ab60ef6aacd627494587f8a53a12ecf89
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_5.obj
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diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_6.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a5ebf12e90ff02134ecd52f6613445008526930
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_6.obj
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diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_7.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0561c4438adca369896a8c394db7cb91ee51a7f4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_7.obj
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diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_8.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcf850d3e143d7dcff37102d8f83668d6b4eabe3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_8.obj
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diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_9.obj b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..302e86c34aca4219fdb477ce9615b9e03d3578ae
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/mesh/phone_stand_009_collision_9.obj
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diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/phone_stand_009.xml b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/phone_stand_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f80e4728e066d7d5b264bad25e59359e1d5b1e52
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/mjcf/phone_stand_009.xml
@@ -0,0 +1,78 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="phone_stand_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/phone_stand_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/phone_stand_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/phone_stand_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/phone_stand_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/phone_stand_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/phone_stand_009_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/phone_stand_009_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/phone_stand_009_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/phone_stand_009_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/phone_stand_009_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/phone_stand_009_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/phone_stand_009_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/phone_stand_009_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/phone_stand_009_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/phone_stand_009_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/phone_stand_009_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/phone_stand_009_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/phone_stand_009_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/phone_stand_009_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/phone_stand_009_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/phone_stand_009_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/phone_stand_009_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/phone_stand_009_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/phone_stand_009_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/phone_stand_009_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/phone_stand_009_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/phone_stand_009_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/phone_stand_009_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/phone_stand_009_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/phone_stand_009_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/phone_stand_009_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/phone_stand_009_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/phone_stand_009_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="phone_stand_009">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/phone_stand_009.urdf b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/phone_stand_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..194cc533ff038e721fb1fd93d8a4d73829adac73
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/019e87a64f6f5e92b261bcaec3069c74/phone_stand_009.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="phone_stand_009">
+   <link name="phone_stand_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/phone_stand_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/phone_stand_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.70</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>019e87a64f6f5e92b261bcaec3069c74</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>decorations</super_category>
+         <category>phone_stand</category>
+         <name>angled phone stand</name>
+         <color>blue</color>
+         <shape>L-shape</shape>
+         <material>plastic</material>
+         <description>angled blue phone stand with yellow base and gray top holder</description>
+         <min_height>0.0991</min_height>
+         <max_height>0.0991</max_height>
+         <real_height>0.0991</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420200837</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>4</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
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