diff --git a/.gitattributes b/.gitattributes
index 3fe1ea76cb82aba9b0e9a36566f4852e1c7ffff2..6673ca442861e9b306e663a3a639d1944b093e55 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2870,7 +2870,6 @@ dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/0f02d7fb5c
 dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/137c1242dcee51cb9c616fddfa30c483.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/137c1242dcee51cb9c616fddfa30c483/mesh/teacup_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/mesh/vase_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/14c1be720efd5fbdb9bae8f0c84a5bec/vase_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/207ce39413a15594bddbf3817fb63c0a/mesh/mini_sculpture_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/207ce39413a15594bddbf3817fb63c0a/mini_sculpture_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/1fd8bfbf2b0d5a179f2dcdb68b1c630b.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mesh/saucer.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mesh/saucer_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/1fd8bfbf2b0d5a179f2dcdb68b1c630b.urdf b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/1fd8bfbf2b0d5a179f2dcdb68b1c630b.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..be85277a9c2ad70a3e111cdff6ac046536c7cc24
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/1fd8bfbf2b0d5a179f2dcdb68b1c630b.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="saucer">
+   <link name="saucer">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/saucer.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/saucer_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>0.225929</scale>
+         <version>v0.1.7</version>
+         <category>saucer</category>
+         <description>dark-colored saucer with a slightly raised base and shallow concave surface</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120045104</generate_time>
+         <gs_model>mesh/saucer_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.42640495300293</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/1fd8bfbf2b0d5a179f2dcdb68b1c630b.usd b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/1fd8bfbf2b0d5a179f2dcdb68b1c630b.usd
new file mode 100644
index 0000000000000000000000000000000000000000..29efc98fef7cbad2ce89e9628601c6b22d40faf9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/1fd8bfbf2b0d5a179f2dcdb68b1c630b.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b7aa6961647920e3e53f14a9691ddac43c80ef084d3586a81d529c4abf4980d
+size 436505
diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mesh/material.mtl b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mesh/material_0.png b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b66b19bb2380500ab09674d76e0f8df5fb874e4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26297178f72d927efb041d08c27b9ff9af6446c59a4c716de6a0d0e03ce52c44
+size 2460492
diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mesh/saucer.glb b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mesh/saucer.glb
new file mode 100644
index 0000000000000000000000000000000000000000..49bab870b272a364302b8f37d72a962bc5bb2d23
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mesh/saucer.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:344569734201af67cc7734be7020d61493f75bfeae092144dd73d093e0f5c4ef
+size 2755656
diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mesh/saucer.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mesh/saucer.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c86974595ce038449a50c761a40c67f7c257815
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mesh/saucer.obj
@@ -0,0 +1,26928 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mesh/saucer_collision.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mesh/saucer_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f80e0ade8339978bf4e165c3abe4a65837976c9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mesh/saucer_collision.obj
@@ -0,0 +1,7848 @@
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diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mesh/saucer_gs.ply b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mesh/saucer_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..383dd05abf5feefdefdfc3dcbe4b150fe7a1864b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mesh/saucer_gs.ply
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+version https://git-lfs.github.com/spec/v1
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+size 1769737
diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/1fd8bfbf2b0d5a179f2dcdb68b1c630b.xml b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/1fd8bfbf2b0d5a179f2dcdb68b1c630b.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1041040d83944d425dd3ec72b5ff34ec17e54bff
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/1fd8bfbf2b0d5a179f2dcdb68b1c630b.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="saucer">
+  <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/saucer.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/saucer_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/saucer_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/saucer_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/saucer_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/saucer_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/saucer_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/saucer_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/saucer_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/saucer_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/saucer_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/saucer_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/saucer_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/saucer_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_15" file="mesh/saucer_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/saucer_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/saucer_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_20" file="mesh/saucer_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/saucer_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_23" file="mesh/saucer_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/saucer_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/saucer_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/saucer_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/saucer_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="saucer">
+      <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" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26297178f72d927efb041d08c27b9ff9af6446c59a4c716de6a0d0e03ce52c44
+size 2460492
diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer.obj
new file mode 100644
index 0000000000000000000000000000000000000000..280b87968e4bf4c17ac7afc9f1e761dc3f1ab61a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer.obj
@@ -0,0 +1,26928 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39ef6bcb5609870b194b9e9798cbba7983f721f1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision.obj
@@ -0,0 +1,7848 @@
+# https://github.com/mikedh/trimesh
+
+o saucer_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_0.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c66140be92a650b56044209a9dd498e93b8865cf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_0.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_1.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37f475d62193711560aa50c614617213557417b3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_1.obj
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diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_10.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0745e646b8e36d4933fd3c95bfa1b2bdc407e748
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_10.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_11.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6bb0aae10ef17447d53f3e2848248c3f3351492
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_11.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_12.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aa3a3df54e77dc5f31f1e8e1006a5fb2ea7d9ad
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_12.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.03322078 -0.03407576 -0.01365090
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+
diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_13.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b190b5497016d3af87e1e05fcb5295cc6aed04a3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_13.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v 0.07339695 0.00026501 0.00183049
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+
diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_14.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc7bc273dbd81a36a9da8f965222ac78d55af98f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_14.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.05219081 0.04653688 -0.00109695
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diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_15.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deeec6e866ddb61218d38282827fdf0eedccebd9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_15.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_16.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6de2f6d9c6b801a655ffda13f06b9e7bfb053e71
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_16.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_17.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49a3f89840467b0bab06176bfcf01dbe3967cfae
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_17.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_18.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10e1a67c7400ef6ffc41fb9a8c48edc99d1bb5f4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_18.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_19.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fb8f1056e2676edc846302836f5a4e95ca438aa
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_19.obj
@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_2.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..351c3ae425bf8ffa557daf0e4033549dce27b1c5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_2.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_20.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef92830f4de88b2730eecc351dff81dda09d0736
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_20.obj
@@ -0,0 +1,463 @@
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diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_21.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cc0a38272c29c8d6e27e4b56f7489fd699ea678
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_21.obj
@@ -0,0 +1,109 @@
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+
diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_22.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da811fadb873256f2b563f07f7447ff3dd54797d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_22.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.01912180 0.04420552 -0.01374824
+v 0.01997680 0.04420552 -0.01439191
+v 0.01997680 0.04319157 -0.01374824
+v 0.03900765 0.04420552 -0.01374824
+v 0.02735472 0.04420554 -0.01836077
+v 0.04271371 0.02802200 -0.01874217
+v 0.04260800 0.02802200 -0.01868439
+v 0.04094774 0.02802199 -0.01696488
+v 0.03798475 0.02802198 -0.01374830
+v 0.04213230 0.04139498 -0.01374825
+v 0.03867809 0.04420552 -0.01447337
+v 0.02988242 0.04420554 -0.01920724
+v 0.04257069 0.03178786 -0.01965102
+v 0.04632027 0.02802200 -0.01953375
+v 0.05088133 0.02802198 -0.01374830
+v 0.04055288 0.04102110 -0.01675393
+v 0.03712664 0.04420553 -0.01713585
+v 0.04944803 0.03130780 -0.01374829
+v 0.04508596 0.03452552 -0.01814875
+v 0.03446835 0.04420554 -0.01891314
+v 0.03911025 0.03957466 -0.01895128
+v 0.04275102 0.03567888 -0.01892241
+v 0.04632027 0.02804102 -0.01953433
+v 0.04633893 0.02802200 -0.01952970
+v 0.04895990 0.02802200 -0.01827011
+v 0.04838783 0.03022417 -0.01774084
+v 0.04993927 0.03042060 -0.01374829
+v 0.04161930 0.03852268 -0.01828567
+v 0.03805316 0.04229330 -0.01827352
+v 0.03502799 0.04420554 -0.01868722
+v 0.04632960 0.03159775 -0.01860001
+v 0.03538554 0.04333576 -0.01890505
+v 0.04895369 0.02804102 -0.01826838
+f 1 2 3
+f 1 3 9
+f 1 9 15
+f 1 15 27
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+f 1 18 10
+f 1 10 4
+f 1 4 11
+f 1 11 17
+f 1 17 30
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+f 1 20 12
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+f 1 5 2
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+
diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_23.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a397974006238cb48ce300f8afdb6b1aa8506cd4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_23.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.02847368 -0.08063811 0.00021847
+v -0.02867438 -0.08056230 0.00021847
+v -0.02867438 -0.07963507 -0.00038365
+v -0.02847368 -0.07976337 -0.00034731
+v -0.02847368 -0.06834502 0.00021852
+v -0.03261955 -0.07904607 0.00021848
+v -0.02872084 -0.07663760 -0.00230747
+v -0.02847368 -0.07669591 -0.00232628
+v -0.02847368 -0.04342641 -0.00640935
+v -0.04580420 -0.02278825 -0.00640927
+v -0.04745809 -0.02106208 -0.00640927
+v -0.04745809 -0.05594113 0.00021856
+v -0.03617448 -0.07757067 0.00021849
+v -0.03261955 -0.07715079 -0.00098512
+v -0.03000121 -0.07473065 -0.00317950
+v -0.02847368 -0.07635768 -0.00254235
+v -0.02847368 -0.06898648 -0.00640944
+v -0.04745809 -0.05640764 -0.00640940
+v -0.04745809 -0.07094010 0.00021851
+v -0.03769272 -0.07686504 0.00021849
+v -0.03617448 -0.07627605 -0.00060165
+v -0.03242443 -0.07418248 -0.00287649
+v -0.03242443 -0.07231053 -0.00388415
+v -0.02872084 -0.07333105 -0.00421571
+v -0.02847368 -0.07371595 -0.00406648
+v -0.02847368 -0.06935971 -0.00623295
+v -0.02887322 -0.06924307 -0.00620765
+v -0.02860748 -0.06892816 -0.00640944
+v -0.04655867 -0.05722406 -0.00640940
+v -0.04745809 -0.05734070 -0.00605059
+v -0.04745809 -0.06948219 -0.00057049
+v -0.04735588 -0.06937139 -0.00067494
+v -0.04735588 -0.07102174 0.00021851
+v -0.03956031 -0.07599613 0.00021849
+v -0.03921467 -0.07557625 -0.00014681
+v -0.03631943 -0.07298699 -0.00249951
+v -0.03516728 -0.07166321 -0.00354090
+v -0.03242443 -0.06935387 -0.00534728
+v -0.02847368 -0.07331355 -0.00427216
+v -0.02934708 -0.06858993 -0.00640944
+v -0.04721651 -0.05788888 -0.00592017
+v -0.04461117 -0.05887442 -0.00640941
+v -0.04745809 -0.05791220 -0.00582284
+v -0.04745809 -0.06932474 -0.00065547
+v -0.04606065 -0.07163406 -0.00000599
+v -0.04628922 -0.07187316 0.00021851
+v -0.04745809 -0.06927808 -0.00068013
+v -0.04745809 -0.06689876 -0.00191034
+v -0.04472824 -0.06685794 -0.00302571
+v -0.04355565 -0.06916144 -0.00229511
+v -0.04167134 -0.07488229 0.00021849
+v -0.04024788 -0.07344770 -0.00107270
+v -0.03766670 -0.07102173 -0.00320934
+v -0.03631943 -0.06960463 -0.00425853
+v -0.03242443 -0.06707371 -0.00640944
+v -0.04424509 -0.05918350 -0.00640941
+v -0.04745809 -0.06124789 -0.00447715
+v -0.04367087 -0.07243883 -0.00048420
+v -0.04367087 -0.07364598 0.00021850
+v -0.04745809 -0.06563330 -0.00256242
+v -0.04222883 -0.06778517 -0.00345719
+v -0.04631895 -0.06435617 -0.00358695
+v -0.04355565 -0.06560414 -0.00397236
+v -0.03992268 -0.07036859 -0.00288687
+v -0.04181628 -0.07479481 0.00021850
+v -0.03992268 -0.06849663 -0.00380887
+v -0.03624696 -0.06550499 -0.00616741
+v -0.03381444 -0.06631559 -0.00640943
+v -0.04244811 -0.06062974 -0.00640941
+v -0.04331407 -0.06149866 -0.00577550
+v -0.04745809 -0.06198268 -0.00417934
+v -0.04745809 -0.06555166 -0.00259941
+v -0.03992268 -0.06560413 -0.00510525
+v -0.04745809 -0.06209349 -0.00413327
+v -0.03681188 -0.06458360 -0.00640943
+v -0.03591990 -0.06514343 -0.00640943
+v -0.04003417 -0.06240840 -0.00640942
+v -0.03972384 -0.06262416 -0.00640942
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+f 69 73 70
+f 73 77 78
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+
diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_24.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f63aa761bd7ff3e648ba29349223029db283f7bc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_24.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.05457650 0.00026504 -0.00585595
+v 0.04499171 -0.03294127 -0.00585607
+v 0.07339375 0.00026501 0.00182873
+v 0.07212083 0.00026504 -0.00585595
+v 0.06502127 -0.03294127 -0.00585607
+v 0.06580169 -0.03294130 0.00182861
+v 0.08367561 0.00026501 0.00182873
+v 0.07256787 0.00026504 -0.00562201
+v 0.07209810 -0.00144468 -0.00585596
+v 0.06543421 -0.03199539 -0.00585607
+v 0.06893095 -0.03165736 -0.00407105
+v 0.06854831 -0.03294128 -0.00397251
+v 0.07787549 -0.03294130 0.00182861
+v 0.08369455 -0.00192902 0.00182872
+v 0.08262242 0.00026502 0.00101107
+v 0.07256787 -0.00192899 -0.00560472
+v 0.07554559 0.00026503 -0.00396938
+v 0.07209052 -0.00192899 -0.00585596
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+v 0.06881730 -0.02814689 -0.00489772
+v 0.07078729 -0.03024993 -0.00336772
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+v 0.07008643 -0.03294128 -0.00310520
+v 0.07342406 -0.03294129 -0.00101854
+v 0.07224964 -0.03165736 -0.00208971
+v 0.07304900 -0.02814690 -0.00243345
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+v 0.08360742 -0.00528996 0.00182871
+v 0.08177381 -0.00192901 0.00036189
+v 0.08177381 0.00026502 0.00036340
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+v 0.07179881 -0.00567673 -0.00585597
+v 0.07552665 -0.00192900 -0.00395886
+v 0.07664424 0.00026503 -0.00329765
+v 0.06758984 -0.02655094 -0.00585605
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+v 0.07950074 -0.02814692 0.00182863
+v 0.08337632 -0.00865089 0.00182870
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+v 0.07845512 0.00026503 -0.00208658
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+v 0.07962955 -0.00942124 -0.00081310
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+v 0.07937951 -0.01316572 -0.00062582
+v 0.08221706 -0.01691022 0.00182867
+v 0.08252771 -0.01523950 0.00182867
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+f 80 86 81
+f 84 87 85
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+
diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_25.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbb885649b76ae05135c5c36d2751f7590d49e8b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_25.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.00055988 -0.08623104 0.00021845
+v -0.00096427 -0.08623524 0.00021845
+v -0.00055988 -0.08623104 0.00021650
+v -0.00055988 -0.07424965 0.00021850
+v -0.00229766 -0.08616818 0.00021845
+v -0.00229766 -0.08468884 -0.00079763
+v -0.00055988 -0.08468884 -0.00080412
+v -0.00055988 -0.05467459 -0.00640939
+v -0.02582603 -0.04403843 -0.00640935
+v -0.02847368 -0.04342239 -0.00640935
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+v -0.00341520 -0.08610951 0.00021845
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+v -0.01447033 -0.07328995 -0.00640946
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+
diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_26.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c564943e7d0482502fc1ef14081bc9ad6536bc4b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_26.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.03037230 0.06333881 -0.00835410
+v -0.03037230 0.06333879 -0.00160525
+v -0.02878395 0.06333881 -0.00864831
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+v -0.01742265 0.05662931 -0.01809349
+v -0.02092991 0.05431834 -0.01861913
+v -0.02492274 0.05293619 -0.01806122
+v -0.02830715 0.05039302 -0.01833390
+v -0.03037230 0.04940671 -0.01804867
+v -0.03037230 0.04074663 -0.00664095
+v -0.00049188 0.04074663 -0.00666428
+v -0.00049188 0.06333880 -0.00454015
+v -0.02499880 0.06333881 -0.00934615
+v -0.00992549 0.05762668 -0.01886130
+v -0.01367554 0.05426085 -0.01993230
+v -0.01742265 0.05426085 -0.01953225
+v -0.02492274 0.05051686 -0.01939592
+v -0.03037230 0.04678836 -0.01914299
+v -0.03037230 0.04074667 -0.01657586
+v -0.00049188 0.04074666 -0.01329831
+v -0.00049188 0.06333882 -0.01167650
+v -0.02185719 0.06333882 -0.00987358
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+v -0.00049188 0.05426085 -0.01929186
+v -0.00049188 0.05994869 -0.01760373
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+v -0.02117270 0.06333882 -0.00998660
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+v -0.00618130 0.06333882 -0.01148993
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+v -0.00260676 0.05836530 -0.01874290
+v -0.01847279 0.06333882 -0.01035794
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+f 23 38 39
+f 23 39 24
+f 23 33 40
+f 23 40 34
+f 24 39 25
+f 25 39 38
+f 25 30 26
+f 26 30 27
+f 27 30 28
+
diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_27.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77b5f446d7e2884b932d296a385f3adebd8b6932
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_27.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.04499563 -0.03294336 -0.00585607
+v 0.01938568 -0.05433435 -0.00585615
+v 0.06580194 -0.03294339 0.00182861
+v 0.06501754 -0.03294336 -0.00585607
+v 0.05086422 -0.05433435 -0.00585615
+v 0.05151120 -0.05433438 0.00182853
+v 0.07787691 -0.03294339 0.00182861
+v 0.06854443 -0.03294337 -0.00397251
+v 0.06506907 -0.03564262 -0.00520240
+v 0.06496029 -0.03307110 -0.00585607
+v 0.05232994 -0.05284546 -0.00585614
+v 0.05378993 -0.05433435 -0.00469473
+v 0.06675808 -0.05433438 0.00182853
+v 0.07775668 -0.03326797 0.00182861
+v 0.07342251 -0.03294338 -0.00101854
+v 0.06774286 -0.03564263 -0.00376566
+v 0.07008457 -0.03294337 -0.00310520
+v 0.06719322 -0.03803407 -0.00345576
+v 0.06521793 -0.03932401 -0.00416435
+v 0.06378085 -0.03564262 -0.00585608
+v 0.06421598 -0.03470867 -0.00585608
+v 0.05378993 -0.05122674 -0.00585614
+v 0.05407620 -0.05433435 -0.00457587
+v 0.06486296 -0.05433437 0.00078746
+v 0.06386100 -0.05341297 -0.00014981
+v 0.06768560 -0.05302558 0.00182854
+v 0.07688641 -0.03559240 0.00182860
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+v 0.07021053 -0.03294337 -0.00303299
+v 0.06961508 -0.03564263 -0.00268096
+v 0.06859595 -0.03932402 -0.00227176
+v 0.06656341 -0.04053021 -0.00310975
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+v 0.06178267 -0.03946641 -0.00585609
+v 0.06324266 -0.03668129 -0.00585608
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+v 0.06197160 -0.05433437 -0.00079446
+v 0.06133035 -0.05433437 -0.00113898
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+v 0.06131890 -0.05078071 -0.00255766
+v 0.06509197 -0.05047289 -0.00059587
+v 0.06908262 -0.05097757 0.00182854
+v 0.07663449 -0.03621853 0.00182860
+v 0.07042810 -0.03294337 -0.00290060
+v 0.07568979 -0.03852201 0.00182859
+v 0.07168769 -0.03938895 -0.00039272
+v 0.06905399 -0.04323786 -0.00085385
+v 0.07107507 -0.04205889 -0.00000609
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+v 0.06337434 -0.04530261 -0.00340915
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+v 0.05431095 -0.05062783 -0.00585614
+v 0.05666411 -0.05359515 -0.00376272
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+v 0.05795234 -0.05433436 -0.00285028
+v 0.05777485 -0.05078070 -0.00430431
+v 0.06007648 -0.04963734 -0.00362956
+v 0.06257277 -0.04779874 -0.00298717
+v 0.06719322 -0.04912221 0.00009017
+v 0.06938606 -0.05051059 0.00182854
+v 0.07526610 -0.03947900 0.00182858
+v 0.07451607 -0.04110610 0.00182858
+v 0.07046245 -0.04455294 0.00036625
+v 0.07353129 -0.04320227 0.00182857
+v 0.07313624 -0.04401268 0.00182857
+v 0.06480570 -0.04668260 -0.00214016
+v 0.06131890 -0.04668260 -0.00399287
+v 0.05731681 -0.04666793 -0.00585612
+v 0.05961272 -0.04313523 -0.00585611
+v 0.06029404 -0.04203584 -0.00585610
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+v 0.07065139 -0.04853588 0.00182855
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+v 0.06976967 -0.04687736 0.00075138
+v 0.06789172 -0.04687736 -0.00031903
+v 0.07156174 -0.04699883 0.00182856
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+f 1 17 8
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+
diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_3.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..497cb226484b6ea27ca1386332919b32d796e0e7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_3.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.05686683 0.04074664 -0.00780975
+v -0.04980304 0.02712337 -0.01807687
+v -0.05044320 0.02429410 -0.01863111
+v -0.05326319 0.01930919 -0.01779704
+v -0.05362742 0.01680485 -0.01821958
+v -0.05409098 0.01306022 -0.01863847
+v -0.05686683 0.03923294 -0.00814998
+v -0.05686683 0.04074661 -0.00112966
+v -0.03940050 0.04074668 -0.01845911
+v -0.04241917 0.03814723 -0.01810244
+v -0.04367189 0.03539325 -0.01862559
+v -0.04656363 0.03178335 -0.01841341
+v -0.04768942 0.02823685 -0.01894206
+v -0.04741901 0.02429410 -0.01974873
+v -0.05117165 0.01680485 -0.01963718
+v -0.05140895 0.02055344 -0.01882684
+v -0.05443313 0.00931163 -0.01884153
+v -0.05659090 0.00182237 -0.01641974
+v -0.05686683 0.00570569 -0.01507347
+v -0.05686683 0.00026900 -0.00524907
+v -0.00048895 0.00026900 -0.00675447
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+v -0.00048895 0.01306017 -0.00670503
+v -0.00048895 0.01680480 -0.00669954
+v -0.00048895 0.04074663 -0.00666469
+v -0.03608935 0.04074668 -0.01883226
+v -0.04002411 0.03934789 -0.01876094
+v -0.04367189 0.03178335 -0.01949445
+v -0.03595691 0.03906258 -0.01887617
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+v -0.05463732 0.00556701 -0.01890739
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+
diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_4.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6d53d81926a86682cbb936b6ae3da3b7ce56d1c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_4.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v -0.05687098 0.04643973 0.00061819
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+
diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_5.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ddd1ad96c96ec113dcedb569652a61717f3a41b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_5.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.00132853 0.08428378 -0.00109867
+v 0.00491638 0.08415039 -0.00109867
+v 0.00168530 0.05838360 -0.01874863
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+
diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_6.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4ab4fd3f8822ecfef52e6af691c2a7296b762a4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_6.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.04059351 0.05817119 -0.00109691
+v -0.00048895 0.07324885 -0.00109685
+v 0.04059351 0.07277716 -0.00109685
+v 0.04059351 0.08115360 0.01138657
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diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_7.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f7aae9e69e0e7e87792db357cf5d6f2aa7add54
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_7.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_8.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4822257eeccea2f8bfb57e96e94b155d76ac5af
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_8.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_9.obj b/dataset/desktop_supplies/decorations/1fd8bfbf2b0d5a179f2dcdb68b1c630b/mjcf/mesh/saucer_collision_9.obj
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