diff --git a/.gitattributes b/.gitattributes
index 0f9233f12ac7a05339184cda0bb58a3c13fa5308..90bd55d2507abe6e94434312f7a95174efb00ab7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2920,9 +2920,6 @@ dataset/desktop_supplies/decorations/8e7efaf5765655318a458ae329101289/phone_stan
 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
-dataset/desktop_supplies/decorations/97adefb6410251f3922c7c7d81e3f079/97adefb6410251f3922c7c7d81e3f079.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/97adefb6410251f3922c7c7d81e3f079/mesh/mouse_pad.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/97adefb6410251f3922c7c7d81e3f079/mesh/mouse_pad_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/9490404f5aa5539e995543ff90c62a8b.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mesh/tennis_ball.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mesh/tennis_ball_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/96521a89eaaa52be9a1657acf4a40559.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mesh/saucer.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mesh/saucer_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/96521a89eaaa52be9a1657acf4a40559.urdf b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/96521a89eaaa52be9a1657acf4a40559.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8ccfa42bceb15bb0c5a7be0000845b40bc5a41ad
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/96521a89eaaa52be9a1657acf4a40559.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>0.60</mu1>
+            <mu2>0.50</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>0.210097</scale>
+         <version>v0.1.7</version>
+         <category>saucer</category>
+         <description>colorful ceramic saucer with floral patterns and scalloped edges</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>20260120044802</generate_time>
+         <gs_model>mesh/saucer_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.172587871551514</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/96521a89eaaa52be9a1657acf4a40559/96521a89eaaa52be9a1657acf4a40559.usd b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/96521a89eaaa52be9a1657acf4a40559.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0559f59cb45499a209767d96ac07184cd098ce4d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/96521a89eaaa52be9a1657acf4a40559.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb18fa6ef8345c3bee1fe6219f98fb4a50336f6d3cdb39228d674cd670d6a6be
+size 391854
diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mesh/material.mtl b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/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/96521a89eaaa52be9a1657acf4a40559/mesh/material_0.png b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8b88f5815b482d541c599c3739f84cea3fb70a5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80b461fcf8312ce1490f39884f2de0c0bbe388ed76389809f1cdc735daf8a9ed
+size 2312390
diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mesh/saucer.glb b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mesh/saucer.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c4e64a2f15e56ba68899be3bffe7be5d1e168ff9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mesh/saucer.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db77ef958d53c58f462e3d5f65ca6ac882fcf83b1a906635ee4a1646ba620e1f
+size 2575620
diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mesh/saucer.obj b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mesh/saucer.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3573cccbc4b2ee030e49169f498dff000c8fd2f0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mesh/saucer.obj
@@ -0,0 +1,23978 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mesh/saucer_collision.obj b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mesh/saucer_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d06e63f9f63d863c751c2bd6019c9f92b9693a0c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mesh/saucer_collision.obj
@@ -0,0 +1,5261 @@
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diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mesh/saucer_gs.ply b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mesh/saucer_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c07e884b4439f1c947b8a88042fe61543cdb9c1d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mesh/saucer_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cf94903e875bad11ffdcc6f44a28f4365d2c7979ef5d8c8455a8c76ba21fa3a
+size 1690441
diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/96521a89eaaa52be9a1657acf4a40559.xml b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/96521a89eaaa52be9a1657acf4a40559.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f6368bc3b2b30ae9399812b46a461664cf20ed85
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/96521a89eaaa52be9a1657acf4a40559.xml
@@ -0,0 +1,50 @@
+<?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" />
+    <mesh name="collision_mesh_0_13" file="mesh/saucer_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/saucer_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <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" />
+  </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" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8b88f5815b482d541c599c3739f84cea3fb70a5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80b461fcf8312ce1490f39884f2de0c0bbe388ed76389809f1cdc735daf8a9ed
+size 2312390
diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer.obj b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer.obj
new file mode 100644
index 0000000000000000000000000000000000000000..290dca030598e4262ba1af440f14340d5e47e744
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer.obj
@@ -0,0 +1,23978 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision.obj b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bfeda22787b5fba4ae44861655f9ada994b0430
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision.obj
@@ -0,0 +1,5261 @@
+# https://github.com/mikedh/trimesh
+
+o saucer_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_0.obj b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1c2a1ea082d1ce857eb0e0a8516a840d0132067
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_0.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_1.obj b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebf1e6488e2c64b0e20a20feb5f93960b74d4353
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_1.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_10.obj b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adc1630a7658b5a97bf8d412a1bb739e5b683459
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_10.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_11.obj b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5672bcc3950be218680d6d371eb09b32724f9cd9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/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/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_12.obj b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d08568ee16103cf3eacd1fd8600bd9f209f22f4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_12.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_13.obj b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac2c8644684bcff1ead60073b9dee3fd3630097a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_13.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_14.obj b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..838d0f2733f9853043bde9d7a7cf8f01a62cc7a6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_14.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.02885834 -0.10153629 0.01196017
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diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_15.obj b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f338a750f309fac8253738f0db0504f74d1d327
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_15.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_16.obj b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d7aa8bad197c3fead32ac7e597587c2ccc29752
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_16.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_17.obj b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..506d188ac55ac4a640509564596ccbdf3ae72015
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_17.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_2.obj b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8218ae5d4d71fba2064a1bcf8899cd992ae260c6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_2.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_3.obj b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49226b89469d768f7db63d39307d86e3cba96215
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_3.obj
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diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_4.obj b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fade234b80accc05d85ae7bdede245b22a837739
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_4.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_5.obj b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a427872f14836d06995bc8c3d6d5b19d2c4a382f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_5.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_6.obj b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9d8f4d5408f8ead26031c7b433a9523c34cc579
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_6.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_7.obj b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bd678698ed50824087e0ba49c4c3939203dc152
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_7.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_8.obj b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..226b998244ec527cc67dd9bc354a51cfb915adbd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/mjcf/mesh/saucer_collision_8.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/textures/material_0.png b/dataset/desktop_supplies/decorations/96521a89eaaa52be9a1657acf4a40559/textures/material_0.png
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