diff --git a/.gitattributes b/.gitattributes
index 9dd131b9103df08a59f654d2aab9b9a89a82fb5e..03bc005c5d444f3b4bb7fe81fc8d6ee8558cd943 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2959,3 +2959,6 @@ dataset/desktop_supplies/decorations/ce94120c32e050339438d5d6c6e0cf9b/vase_004.u
 dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/ed78d04579bd58e4b15d393c1df6581d.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mesh/thermos.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/ed78d04579bd58e4b15d393c1df6581d/mesh/thermos_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/f164a3174e6d56e88f491e5baecc33c9.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mesh/small_saucer.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mesh/small_saucer_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/f164a3174e6d56e88f491e5baecc33c9.urdf b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/f164a3174e6d56e88f491e5baecc33c9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f8843b01f08f2cc5c4c7984fee7c8467af6cedf7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/f164a3174e6d56e88f491e5baecc33c9.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>0.131786</scale>
+         <version>v0.1.7</version>
+         <category>small saucer</category>
+         <description>dark-colored saucer with shallow concave design</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>20260120012043</generate_time>
+         <gs_model>mesh/small_saucer_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.6361985206604</ImageAestheticChecker>
+         <overall>YES</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/f164a3174e6d56e88f491e5baecc33c9/f164a3174e6d56e88f491e5baecc33c9.usd b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/f164a3174e6d56e88f491e5baecc33c9.usd
new file mode 100644
index 0000000000000000000000000000000000000000..cb8c94639a7f53a969ca46e936b30ad2f0c52933
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/f164a3174e6d56e88f491e5baecc33c9.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d47525b9775925dac4efe274cbfce473afe961541f8211d9edc08a10fc47a42
+size 286073
diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mesh/material.mtl b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/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/f164a3174e6d56e88f491e5baecc33c9/mesh/material_0.png b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6956e3375ee8defba8fc31e44a64831b4a83ba4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dee529c5036a4abd1d952aa2395d5b5e0f731078c2b6055df16e197963ad6a8
+size 920673
diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mesh/small_saucer.glb b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mesh/small_saucer.glb
new file mode 100644
index 0000000000000000000000000000000000000000..280753f626dee34322a0d2b4bee81f9c583d9489
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mesh/small_saucer.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77281244f606b0e7eff90dd48e49b67a47da68c5c4070d6da3d3ca427f26813c
+size 1112552
diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mesh/small_saucer.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mesh/small_saucer.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b86f920e398e9c3dac289da0a9343fd87d7c7a1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mesh/small_saucer.obj
@@ -0,0 +1,17444 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mesh/small_saucer_collision.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mesh/small_saucer_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a88cae9bab06466fb4b3f34bf002829fb3459cc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mesh/small_saucer_collision.obj
@@ -0,0 +1,8759 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mesh/small_saucer_gs.ply b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mesh/small_saucer_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..53ef30535569d3338a8694b3d9ac0ae08b84ff06
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mesh/small_saucer_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:609220ddc360d837ea673f622543d128218e3e820226d5db08da09b2935267d6
+size 2411945
diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/f164a3174e6d56e88f491e5baecc33c9.xml b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/f164a3174e6d56e88f491e5baecc33c9.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0ca5e7a52a98242f4746dc408f09fbd1bab7bc3e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/f164a3174e6d56e88f491e5baecc33c9.xml
@@ -0,0 +1,68 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="small_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/small_saucer.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/small_saucer_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/small_saucer_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/small_saucer_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/small_saucer_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/small_saucer_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/small_saucer_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/small_saucer_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/small_saucer_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/small_saucer_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/small_saucer_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/small_saucer_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/small_saucer_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/small_saucer_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/small_saucer_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/small_saucer_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/small_saucer_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/small_saucer_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/small_saucer_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/small_saucer_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/small_saucer_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/small_saucer_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/small_saucer_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/small_saucer_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/small_saucer_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/small_saucer_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/small_saucer_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/small_saucer_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="small_saucer">
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+      <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_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" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6956e3375ee8defba8fc31e44a64831b4a83ba4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dee529c5036a4abd1d952aa2395d5b5e0f731078c2b6055df16e197963ad6a8
+size 920673
diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fb117babe59a0e308d51e86af3fea94cc0f5525
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer.obj
@@ -0,0 +1,17444 @@
+# https://github.com/mikedh/trimesh
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+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a8b4354dd8ef2c3ff48b688f554a6a11f7d9c67
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision.obj
@@ -0,0 +1,8759 @@
+# https://github.com/mikedh/trimesh
+
+o small_saucer_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_0.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4bb048cf85a4de3f08c6a2cc6899fbc04c0bd71
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_0.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_1.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffbbd33e4f4e593caa04ca34cdf9bdaa5c95618d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_1.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_10.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71941acccbe9b695ab1218cd36849d92e9e9f9c3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_10.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.01777489 -0.02177668 -0.00466941
+v -0.00004097 -0.02177668 -0.00666615
+v 0.01777489 -0.02177668 -0.00488981
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+v 0.01532817 -0.00015916 -0.01156900
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+
diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_11.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a4ac0b654e12b0a7ce789a2eaef8c3746214aac
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_11.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
+v -0.02610538 -0.02177605 -0.01219761
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diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_12.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..274692c376a214d934966fb1d0ab17044c7c162b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_12.obj
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+
diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_13.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..038225b91412d42ca58e33a8275345141341abaa
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_13.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.03871305 0.01823617 0.00384639
+v 0.04213794 -0.00015710 0.00384632
+v 0.04248204 -0.00015711 0.00415097
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+
diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_14.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcad36119730980cc2fa0423c3264bbac72ed5fe
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_14.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.02758372 -0.00999124 -0.01513617
+v 0.02839229 -0.00015914 -0.01507341
+v 0.02839229 -0.00999124 -0.01513617
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+
diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_15.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a223726e836bcb044df4c9168b330ce14adad4aa
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_15.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.06626780 -0.00015970 0.01341716
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diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_16.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4798f04ccd35d5e374b34536348d02ef41bc657b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_16.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_17.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94c05f45b53d8fa125c786e3ded798597c5f4e9e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_17.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_18.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c7f73b878f71e655e410b319562b4cc6e633965
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_18.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_19.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a3595294d1932515823eca13ae7fa320e7a1dbe
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_19.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_2.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28fd3558eb095970a30b6e4704f00a1d9b9d9c9b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_2.obj
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diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_20.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e83a8df22662dcc4971aef41adda41ef8a5fe255
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_20.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_21.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4ec99940348ffdb8eaafe17b706f772c0f08195
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_21.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_22.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ff8455040482a52e2584efc6008553c2e9e601d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_22.obj
@@ -0,0 +1,475 @@
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diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_23.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0240943fe1350c21094959e9c719688b0ce34d18
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_23.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_24.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6867e7c778d46228e6f5583cda8fc75067fe544
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_24.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_25.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11f4656db3a284c01967857c44fe611b1caad8db
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_25.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_26.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97df4d9dc57904f0ea7fa1c48a5136e1f73bb389
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_26.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v 0.01582778 0.02014444 -0.00571914
+v -0.00472960 0.02014445 -0.00704714
+v 0.01582778 0.02014446 -0.01158214
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diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_3.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf7a9f27afa2ae9861a1b8bc859c9d19d23655ff
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_3.obj
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diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_4.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..677c0a357ce3ab2a247eae1413ff7d84d47aca5a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_4.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_5.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..983ba2ca7581626a229059c59c35c3cd368a9854
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_5.obj
@@ -0,0 +1,679 @@
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diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_6.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d84bdcd0fc135baf69d18428349e10e833844aed
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_6.obj
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diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_7.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..842588baeefd85ce1b1649b4f2200355ff6bd115
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_7.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.02019969 0.02014180 -0.01234395
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+
diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_8.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a390b7f07f6f79ceb2b00cd05c65255907d11172
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_8.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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+v -0.00004097 -0.04840907 0.00802004
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+
diff --git a/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_9.obj b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d249e1b7e1a1ae437f10382eb34a932b2c0963e0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f164a3174e6d56e88f491e5baecc33c9/mjcf/mesh/small_saucer_collision_9.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.00004097 -0.06485389 0.01341731
+v -0.00108702 -0.06485058 0.01341731
+v -0.00108702 -0.06454268 0.01151418
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