diff --git a/.gitattributes b/.gitattributes
index e766871704c2ec7740a6c42a800843cc9d1dab06..700f875e4e1b323f21cef2ab17f684fc50f935f3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2897,3 +2897,6 @@ dataset/desktop_supplies/decorations/4fd5f203e25058d8b78b0826d728ad2c/mesh/chess
 dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/510d2b9d168a5520a57b1bfa40bc3311.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mesh/teacup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/510d2b9d168a5520a57b1bfa40bc3311/mesh/teacup_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/72400bb5dbab50b0a090728770476c90.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mesh/small_saucer.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mesh/small_saucer_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/72400bb5dbab50b0a090728770476c90.urdf b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/72400bb5dbab50b0a090728770476c90.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fc25d9c64b7817d1e6d8ff405e91ddba4c87d451
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/72400bb5dbab50b0a090728770476c90.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>0.179630</scale>
+         <version>v0.1.7</version>
+         <category>small saucer</category>
+         <description>black shallow saucer with smooth curved 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>20260120010633</generate_time>
+         <gs_model>mesh/small_saucer_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.616797924041748</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</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/72400bb5dbab50b0a090728770476c90/72400bb5dbab50b0a090728770476c90.usd b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/72400bb5dbab50b0a090728770476c90.usd
new file mode 100644
index 0000000000000000000000000000000000000000..42479423efa53103826b7a5857a6828cb211f59e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/72400bb5dbab50b0a090728770476c90.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7aa3f8dc46e56515f22f9332e546267ea42e7dda72b219af52db60fe74d8bf55
+size 311596
diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mesh/material.mtl b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/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/72400bb5dbab50b0a090728770476c90/mesh/material_0.png b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..12914f85dbffcb487d388ae80ce7749d2030b6f1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5724f476f63d05690d57b1c11547285fb45f79f6c00ac435d4319208a2871f68
+size 935758
diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mesh/small_saucer.glb b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mesh/small_saucer.glb
new file mode 100644
index 0000000000000000000000000000000000000000..11bbb3f3fb3ea5fbdfe7881987648fd6eb30db2e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mesh/small_saucer.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a7c0aff4365ad56c058a2f9593e1dfecdab4e5c0eec6b7273ac34d37dce81d7
+size 1145164
diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mesh/small_saucer.obj b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mesh/small_saucer.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b6276e8aade4c2700a65493510b778b0c5b9f0a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mesh/small_saucer.obj
@@ -0,0 +1,19036 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mesh/small_saucer_collision.obj b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mesh/small_saucer_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e269558063fec91d09473b90a9ae46fa0960b15
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mesh/small_saucer_collision.obj
@@ -0,0 +1,10038 @@
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diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mesh/small_saucer_gs.ply b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mesh/small_saucer_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8f38ab65790ee1db0d20da3613305b01afa8d310
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mesh/small_saucer_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/72400bb5dbab50b0a090728770476c90.xml b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/72400bb5dbab50b0a090728770476c90.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c3f3e2fbc743aea583889c8e30508e3c069bafb8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/72400bb5dbab50b0a090728770476c90.xml
@@ -0,0 +1,46 @@
+<?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" />
+  </asset>
+  <worldbody>
+    <body name="small_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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..12914f85dbffcb487d388ae80ce7749d2030b6f1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:5724f476f63d05690d57b1c11547285fb45f79f6c00ac435d4319208a2871f68
+size 935758
diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer.obj b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d65a030336d9050ee2d85ae6b6fdab501103aae
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer.obj
@@ -0,0 +1,19036 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision.obj b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34e34b495051262722df073652cfa5109d5bd8a9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision.obj
@@ -0,0 +1,10038 @@
+# https://github.com/mikedh/trimesh
+
+o small_saucer_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_0.obj b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b28355c969e44b97e3b2e894089e2158bbf534c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_1.obj b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..363652f5277fc4ad6fd08bd4ecfe10897879945f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_1.obj
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diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_10.obj b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..628126fba58582af24afdd62bc6ddbda5abc14bd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_10.obj
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diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_11.obj b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77845549a2050628dd1dc418a1f26b54b9302624
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_11.obj
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diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_12.obj b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54d9840dc745cac5d9dad4cb1f17327b508eb039
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_12.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_13.obj b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb15ab7209171eb131cc3f812a2b03e0632c0525
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_13.obj
@@ -0,0 +1,994 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_14.obj b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57aa5f4e6ff725cbe6c19170ee940ed4245ced2a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_14.obj
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diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_15.obj b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e040a1e139ea46bd1807bf207b9a143fb22222b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_15.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_2.obj b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..063e63112bd648c66c66b9018ad199e7963c07f4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_2.obj
@@ -0,0 +1,844 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_3.obj b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18289bc69e0e7789d93366e06bad79093e66a37d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_3.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_4.obj b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe834eab5ef1d9842a4d22d05ed4ff585b7a19ac
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_4.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_5.obj b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0445113a6e6ccae715e6f06abd5c841d5062fc18
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_5.obj
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diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_6.obj b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..647f6f190881561ef32179562f26318f3c341eef
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_6.obj
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diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_7.obj b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e407ebdf680fca213e05d98c8f987a4492e4930
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_7.obj
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diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_8.obj b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74980e41bd32dfa8f7d849657de5b58eb392bd13
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_8.obj
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diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_9.obj b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/mjcf/mesh/small_saucer_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebe6d9809f2e0c7d4f5102f261e0c034f626a893
--- /dev/null
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diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/textures/material_0.png b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/textures/material_0.png
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+++ b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/textures/material_0.png
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diff --git a/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/video.mp4 b/dataset/desktop_supplies/decorations/72400bb5dbab50b0a090728770476c90/video.mp4
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