diff --git a/.gitattributes b/.gitattributes
index 3c66dff9227ec0d452695e77ef59998be43b6f52..e43cd3a4b3ee7efd5bb8862e9722817c539d4e98 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2917,3 +2917,6 @@ dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mesh/chess
 dataset/desktop_supplies/decorations/8973617a05155234a67d384e68a2ad16/mesh/chessboard_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/8e7efaf5765655318a458ae329101289/mesh/phone_stand_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/8e7efaf5765655318a458ae329101289/phone_stand_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/9336f0dd9da352f69adfd45d773162ff.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mesh/small_saucer.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mesh/small_saucer_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/9336f0dd9da352f69adfd45d773162ff.urdf b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/9336f0dd9da352f69adfd45d773162ff.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3c96bc5cba2bfbb369d2b78751aee1f14a4f2fe9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/9336f0dd9da352f69adfd45d773162ff.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="small_saucer">
+   <link name="small_saucer">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/small_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/small_saucer_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>0.178552</scale>
+         <version>v0.1.7</version>
+         <category>small saucer</category>
+         <description>floral-patterned saucer with scalloped edges and shallow depth</description>
+         <min_height>0.02</min_height>
+         <max_height>0.04</max_height>
+         <real_height>0.03</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120005325</generate_time>
+         <gs_model>mesh/small_saucer_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.283660411834717</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</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/9336f0dd9da352f69adfd45d773162ff/9336f0dd9da352f69adfd45d773162ff.usd b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/9336f0dd9da352f69adfd45d773162ff.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8e2db3fd864e6fd4e10837db4cf115bc0766fa16
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/9336f0dd9da352f69adfd45d773162ff.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2ce17d3f7e7965d82c10533e504cdf8c8dd2ce310c2560b0cf61442f61ae4b0
+size 441669
diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mesh/material.mtl b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/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/9336f0dd9da352f69adfd45d773162ff/mesh/material_0.png b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a18799361e748b5dd4bc2aecbf785b7abf31dc4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ecc670c0b013d2695954dc5dcde5b6bcd30f58689616bc9342aa90d84d79599
+size 2260898
diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mesh/small_saucer.glb b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mesh/small_saucer.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6f84e6a896612a43630bd110bd62f65fac451964
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mesh/small_saucer.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f6b8a3e1567573d9163ab47fa5bd399801a58bac988bda8fa22aff31867e1e1
+size 2562224
diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mesh/small_saucer.obj b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mesh/small_saucer.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef4a729a771d47e03c5bc8ca4eeead34a77cd19d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mesh/small_saucer.obj
@@ -0,0 +1,27530 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mesh/small_saucer_collision.obj b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mesh/small_saucer_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21ed0258a934973006762952eda6848c4f8669ce
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mesh/small_saucer_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mesh/small_saucer_gs.ply b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mesh/small_saucer_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..bc18682d0f68b2ff295bc62ffdb0a27f73a95130
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mesh/small_saucer_gs.ply
@@ -0,0 +1,3 @@
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+size 1930345
diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/9336f0dd9da352f69adfd45d773162ff.xml b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/9336f0dd9da352f69adfd45d773162ff.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2d0883b45bf2c8c76c557b68262e4f761ee9a6df
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/9336f0dd9da352f69adfd45d773162ff.xml
@@ -0,0 +1,48 @@
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a18799361e748b5dd4bc2aecbf785b7abf31dc4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ecc670c0b013d2695954dc5dcde5b6bcd30f58689616bc9342aa90d84d79599
+size 2260898
diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer.obj b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69e991c274e00c3474c6f091a6be44bca8c530d4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision.obj b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fa02a8f9610e5fc9a1653b5236b44ef39e58d07
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision.obj
@@ -0,0 +1,6661 @@
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diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_0.obj b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19d1ad5a0300562faed2842e38c6547dd37d03ff
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_1.obj b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e2feb0fe71a900baf1352358c405a50e3952e77
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_1.obj
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diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_10.obj b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..653069c64fa3306d506ec9613923432b69f0b23a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_10.obj
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+
diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_11.obj b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a433c970becac282121895bc7a2cdce76723f2b4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_11.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.02698636 -0.08508372 0.01315124
+v -0.02698636 -0.08474297 0.01251053
+v -0.02698636 -0.08403443 0.01519134
+v -0.02839580 -0.08369368 0.01522388
+v -0.03078923 -0.08314199 0.01498184
+v -0.02839580 -0.08448876 0.01315124
+v -0.03049687 -0.08294725 0.01147319
+v -0.02839580 -0.08343404 0.01114368
+v -0.02698636 -0.08382347 0.01103994
+v -0.02698636 -0.08125432 0.01517101
+v -0.02827580 -0.08094603 0.01521576
+v -0.04241381 -0.07705170 0.01483949
+v -0.04927337 -0.07181603 0.01502257
+v -0.03102704 -0.08325015 0.01315124
+v -0.04270617 -0.07721397 0.01315127
+v -0.04235054 -0.07704628 0.01142033
+v -0.02981178 -0.05931628 -0.00555538
+v -0.02766708 -0.06034936 -0.00555538
+v -0.02698636 -0.06066307 -0.00555538
+v -0.04927337 -0.06936043 0.01494325
+v -0.02698636 -0.07517486 0.01248411
+v -0.04927337 -0.04688697 0.00616865
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+v -0.04927337 -0.07042056 0.01498189
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+v -0.03521826 -0.05638473 -0.00555537
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+v -0.04927337 -0.04525353 0.00508860
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+v -0.04846392 -0.03015220 -0.00555527
+v -0.04927337 -0.02982768 -0.00555527
+f 1 2 9
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+f 1 35 21
+f 1 21 10
+f 1 10 3
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+f 17 19 18
+f 21 35 22
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+
diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_12.obj b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6502b28569fda0469ef0ba27b0cd89ee057341d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_12.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.05232315 0.02631132 -0.00533964
+v 0.05920986 0.02631132 -0.00533964
+v 0.05226091 0.02559975 -0.00533965
+v 0.06108805 0.02631128 0.00428229
+v 0.06217543 0.02631132 -0.00533361
+v 0.06217909 0.02628769 -0.00533964
+v 0.05890964 -0.00051305 -0.00533974
+v 0.06541925 -0.00051308 0.00274919
+v 0.06247931 0.02631128 0.00570277
+v 0.06690203 -0.00051309 0.00426812
+v 0.08422316 0.02631126 0.01084625
+v 0.06254521 0.02537394 -0.00533965
+v 0.06766723 -0.00051305 -0.00533974
+v 0.06322986 0.02631128 0.00626534
+v 0.06859717 -0.00051309 0.00567454
+v 0.08535813 0.02631125 0.01315077
+v 0.08587436 0.02442862 0.01158963
+v 0.08446114 0.02540014 0.01078395
+v 0.06364723 0.02241475 -0.00533966
+v 0.06764526 0.00128294 -0.00533974
+v 0.08912916 0.00170300 0.01131631
+v 0.08912551 -0.00051311 0.01132031
+v 0.06392182 0.02631128 0.00666918
+v 0.06970651 -0.00051309 0.00637574
+v 0.07007629 -0.00051309 0.00660680
+v 0.08530321 0.02631125 0.01325123
+v 0.08587436 0.02444174 0.01468577
+v 0.08540939 0.02618522 0.01315077
+v 0.08594027 0.02470431 0.01315076
+v 0.08864223 0.01179889 0.01315071
+v 0.08894610 0.01032061 0.01315071
+v 0.08880699 0.00975346 0.01163178
+v 0.08605376 0.02241469 0.01139272
+v 0.06610756 0.01353719 -0.00533969
+v 0.06546318 0.01648850 -0.00533968
+v 0.06514466 0.01774622 -0.00533967
+v 0.06498357 0.01834226 -0.00533967
+v 0.06444537 0.02004898 -0.00533967
+v 0.06763793 0.00170306 -0.00533973
+v 0.08906326 0.00466219 0.01137860
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+v 0.08966004 -0.00051312 0.01315067
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+v 0.08549360 -0.00051312 0.01469974
+v 0.06653225 0.02631127 0.00791286
+v 0.08412065 0.02631125 0.01486459
+v 0.08597687 0.02241468 0.01477014
+v 0.08909987 0.00762136 0.01493082
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+v 0.08257196 0.02631125 0.01485053
+v 0.08721802 0.00762135 0.01518599
+v 0.08721802 0.00466217 0.01518397
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+
diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_13.obj b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..beb3a3a4ee36202043c81b1739d3e492c6ffded6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_13.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.04930234 -0.03017304 -0.00550951
+v 0.04930234 -0.04362433 0.00416223
+v 0.04930234 -0.04476359 -0.00550956
+v 0.02762375 -0.05113721 -0.00550959
+v 0.02762375 -0.06055259 0.00467467
+v 0.02762375 -0.06070306 0.00483047
+v 0.02762375 -0.06099327 0.00511951
+v 0.02762375 -0.06291180 0.00655244
+v 0.04930234 -0.04516668 0.00525896
+v 0.04756228 -0.04656389 -0.00550957
+v 0.04930234 -0.06977985 0.00946543
+v 0.02762375 -0.06055792 -0.00550962
+v 0.02762375 -0.06329336 0.00676564
+v 0.04930234 -0.04747215 0.00648075
+v 0.04710392 -0.04703144 -0.00550957
+v 0.04930234 -0.07025815 0.00976062
+v 0.04091186 -0.05269032 -0.00550959
+v 0.04349861 -0.05044933 -0.00550959
+v 0.04401850 -0.04998716 -0.00550958
+v 0.04459782 -0.04944439 -0.00550958
+v 0.04662859 -0.04749898 -0.00550957
+v 0.02779988 -0.06048269 -0.00550962
+v 0.03033146 -0.08305914 0.01140671
+v 0.02793145 -0.08356968 0.01107461
+v 0.02762375 -0.08364491 0.01105616
+v 0.02762375 -0.06351908 0.00687428
+v 0.04930234 -0.04803105 0.00670419
+v 0.02762375 -0.08116212 0.01516843
+v 0.04930234 -0.07210682 0.01093936
+v 0.04001000 -0.05339432 -0.00550960
+v 0.03018504 -0.05938101 -0.00550962
+v 0.04207473 -0.07706170 0.01141289
+v 0.03230918 -0.08259697 0.01185771
+v 0.02762375 -0.08500455 0.01309384
+v 0.03044817 -0.05925203 -0.00550962
+v 0.04275378 -0.07295594 0.01496961
+v 0.04868271 -0.07012918 0.01487737
+v 0.04930234 -0.06994109 0.01488762
+v 0.02762375 -0.08148994 0.01521558
+v 0.03089591 -0.08115675 0.01543287
+v 0.02808211 -0.08103852 0.01518483
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+
diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_14.obj b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80ad39b862b8528c1fda2f299304f15c6f437cbf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_14.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.00009910 0.05868812 -0.00534395
+v -0.02625755 0.05203272 -0.00534398
+v 0.00009910 0.06721247 -0.00534392
+v 0.00009910 0.06725290 0.00443206
+v -0.02625755 0.05957474 0.00308170
+v -0.02625755 0.06129288 -0.00534394
+v -0.00095868 0.06721247 -0.00534392
+v -0.00467895 0.08943387 0.01128506
+v 0.00009910 0.08822714 0.01053840
+v 0.00009910 0.06808069 0.00529190
+v -0.02625755 0.06024800 0.00379261
+v -0.02572608 0.06154306 -0.00534394
+v -0.02625755 0.08440461 0.01104079
+v -0.00171460 0.06720879 -0.00534392
+v -0.00764330 0.08938604 0.01134066
+v -0.00764330 0.08961781 0.01315169
+v -0.00467895 0.08959941 0.01315169
+v -0.00171460 0.08934188 0.01134463
+v 0.00009910 0.08928302 0.01138832
+v 0.00009910 0.06860679 0.00583799
+v -0.02625755 0.06105003 0.00459288
+v -0.02416522 0.06222736 -0.00534394
+v -0.02625755 0.08521031 0.01332841
+v -0.02400011 0.08605282 0.01172589
+v -0.01949811 0.06388661 -0.00534394
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diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_15.obj b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88aefebb81ef32a75a5826d65dc890a5589c738a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_15.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_16.obj b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53050f8f8bffeec54a2f07b11529d959d314d67e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_16.obj
@@ -0,0 +1,199 @@
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diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_2.obj b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb551f1ae2e96ef27f3a4f2c8509617f7404b298
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_2.obj
@@ -0,0 +1,871 @@
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diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_3.obj b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbb69e6b2e963c0381929d108935de9609f588fc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_3.obj
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diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_4.obj b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a3879e547cff08e0fb66e33b9d00fd141612947
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_4.obj
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diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_5.obj b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bca8f857b004e5cd5c9fb6699f5416d14df4d1f1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_5.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_6.obj b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce671ebd60b0f8b64615cbfc6df6930d8825dd9d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_6.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_7.obj b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7b564e7aca0fd3bb2a36a7003763801f0818f31
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_7.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_8.obj b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c88926719fb91a0bd8a863447bfdc9f1c11bd0c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_8.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_9.obj b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..501b045808afeb43a6dcb4d225c0763c38cf4f1a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mjcf/mesh/small_saucer_collision_9.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.00044876 -0.08907423 0.01315001
+v -0.00468015 -0.08935584 0.01315001
+v 0.00044876 -0.08880021 0.01146129
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