diff --git a/.gitattributes b/.gitattributes
index f3037f4067b5e34db1ecb5357023bebe0603c61b..a64ed14b96edcb821b481db6427d76bbe80b0665 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2957,3 +2957,6 @@ dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mesh/sauce
 dataset/desktop_supplies/decorations/f43dc0a4b1855874a16fc253636923e0/f43dc0a4b1855874a16fc253636923e0.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/f43dc0a4b1855874a16fc253636923e0/mesh/mouse_pad.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/f43dc0a4b1855874a16fc253636923e0/mesh/mouse_pad_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/f5a0bc078b1f5a6eb4f9e45644a41201.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mesh/saucer.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mesh/saucer_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/f5a0bc078b1f5a6eb4f9e45644a41201.urdf b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/f5a0bc078b1f5a6eb4f9e45644a41201.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..31933fd48999a0d4d01adb58859e0fd924594cca
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/f5a0bc078b1f5a6eb4f9e45644a41201.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="saucer">
+   <link name="saucer">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/saucer.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/saucer_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.204806</scale>
+         <version>v0.1.7</version>
+         <category>saucer</category>
+         <description>shallow, circular saucer with slightly raised edges</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120045410</generate_time>
+         <gs_model>mesh/saucer_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.600747585296631</ImageAestheticChecker>
+         <overall>YES</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/f5a0bc078b1f5a6eb4f9e45644a41201/f5a0bc078b1f5a6eb4f9e45644a41201.usd b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/f5a0bc078b1f5a6eb4f9e45644a41201.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e7d3361f3487c26aa9af4da92dc7dbfb08703958
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/f5a0bc078b1f5a6eb4f9e45644a41201.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:091357deb8242d5377bd997a06afab1b0b2e04314c866239c43f88166238521e
+size 372259
diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mesh/material.mtl b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/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/f5a0bc078b1f5a6eb4f9e45644a41201/mesh/material_0.png b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..34b824d19601cf6ef39624dd84ba5397c3afc93e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b85c5b8b422230e6da65f699c553c2e44777d6f9343afaf1402677c26a0f4f3
+size 672378
diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mesh/saucer.glb b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mesh/saucer.glb
new file mode 100644
index 0000000000000000000000000000000000000000..934c4b89ae9a40d5307591f7451b9e9afea46558
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mesh/saucer.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3cc4917ff92d91567121ef477ed00895540f11b0339eca1c58f6190dbc30da3
+size 920100
diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mesh/saucer.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mesh/saucer.obj
new file mode 100644
index 0000000000000000000000000000000000000000..072174db3c1300ab1fa0140bdbedd6d5b5b3b816
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mesh/saucer.obj
@@ -0,0 +1,22514 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mesh/saucer_collision.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mesh/saucer_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..820d4a7e3f9218cf3bc1a4affd6878facac4d3e0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mesh/saucer_collision.obj
@@ -0,0 +1,8584 @@
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mesh/saucer_gs.ply b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mesh/saucer_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ed1dac5d7d4f44e00eff9701e31d40b0a60b23dc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mesh/saucer_gs.ply
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+version https://git-lfs.github.com/spec/v1
+oid sha256:19d35de54554e070aded18395e62fd93daa5e680bbb3da23293e3a7904426d1e
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/f5a0bc078b1f5a6eb4f9e45644a41201.xml b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/f5a0bc078b1f5a6eb4f9e45644a41201.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5daac15b704b3f73ada99f07b52272e933ba7365
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/f5a0bc078b1f5a6eb4f9e45644a41201.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="saucer">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/saucer.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/saucer_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/saucer_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/saucer_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/saucer_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/saucer_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/saucer_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/saucer_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/saucer_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/saucer_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/saucer_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_12" file="mesh/saucer_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_28" file="mesh/saucer_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
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+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" 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/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b85c5b8b422230e6da65f699c553c2e44777d6f9343afaf1402677c26a0f4f3
+size 672378
diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer.obj
new file mode 100644
index 0000000000000000000000000000000000000000..061efd0b4a2ec80ae106d9910869eac0dbb4eec1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer.obj
@@ -0,0 +1,22514 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78306b6cf929035ea58e1d082c95a7d8a7aa7b1a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision.obj
@@ -0,0 +1,8584 @@
+# https://github.com/mikedh/trimesh
+
+o saucer_collision.obj
+v -0.06526193 -0.06260388 0.00322532
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_0.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67cab817919186dcfd41528e92f1982b13d02dd5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_0.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_1.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1806f3b2bf1b7688d9202cf4fbe41cc63771c9a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_1.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_10.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f55d1777551c466c2ee66e477d6e051b70d6c322
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_10.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_11.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fd18208d388b09d67899c414cedd66b6957eec2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_11.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_12.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff60f9ecd829e495e68c72d913dcab3bdebd6176
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_12.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_13.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed8ecf41fec809a61be6f9fd2414ecd581442870
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_13.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_14.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da2ae28c873795c76e524685f1a1ff7fe24f3678
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_14.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_15.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48357963c0501fa1a55c79f5922b76fa886fe93d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_15.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_16.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b8fc141bde49c02411bbc3590f5a18d4749f195
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_16.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.04239013 0.08699980 0.00392277
+v -0.04578771 0.08661654 0.00392277
+v -0.04235163 0.08699980 0.00392277
+v -0.04235163 0.07110631 -0.01476074
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+v -0.05598899 0.06860750 -0.01592703
+v -0.05193244 0.08574272 0.00392276
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+v -0.07070041 0.04785040 0.00392263
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+v -0.05598899 0.08498004 0.00392276
+v -0.05367402 0.08542079 0.00392276
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+
diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_17.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c49ffcde6e9ebd2643453ef6756d1bdaa9dbc4e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_17.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
+v -0.05061289 -0.04241023 -0.01228453
+v -0.05061289 -0.05728048 -0.01879431
+v -0.05061289 -0.04241029 0.00245265
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_18.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..841bada35669b2672559a9f13b997a0203a65055
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_18.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_19.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f64f77ce46ec68564b789315745ab11da46da309
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_19.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_2.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..474b371ab395b77504c152b26ccd3bd422949fae
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_2.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_20.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..793730cd5a089e34fbcee7fe69bb42a901eaeef2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_20.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_21.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eab12191ef75ba2341d87c41577287e77707711
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_21.obj
@@ -0,0 +1,208 @@
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_22.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47fe7666a93b9b9ecbc9ff7ee9a1432d2bb1abef
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_22.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_23.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffe5f3733c7af3546996d1826d81c922bc66a27b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_23.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_24.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d14b2f06e82221f13c4f393e40cc9691b161619
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_24.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_25.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a760dcbfc2ebe9d2b8d26eacc271f8a76991281b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_25.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_26.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..107452bad92ab981a4c6468c0d81ebb1556d557f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_26.obj
@@ -0,0 +1,199 @@
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+f 37 51 50
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+f 39 56 57
+f 39 57 58
+f 39 58 40
+f 40 58 43
+f 41 55 52
+f 43 58 59
+f 43 59 44
+f 45 60 61
+f 45 61 46
+f 46 62 63
+f 46 63 47
+f 46 61 60
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+f 48 64 49
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+
diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_27.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4ac53eb58229334f79f9cd536d9bddb8aaf2ff4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_27.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.09338426 -0.06937767 0.02027873
+v -0.09373986 -0.06258457 0.02002499
+v -0.09426827 -0.05918717 0.01991982
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+v -0.09678406 -0.05578805 0.01985974
+v -0.09638858 -0.06258457 0.02002499
+v -0.09596319 -0.06598026 0.02005670
+v -0.09342414 -0.07263596 0.02009507
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+v -0.08970197 -0.07271153 0.02015517
+v -0.08968535 -0.07249855 0.02014515
+v -0.09471693 -0.05578805 0.01977793
+v -0.09480001 -0.05516456 0.01974788
+v -0.09861192 -0.05516456 0.01973787
+v -0.09860526 -0.05578805 0.01973453
+v -0.09854877 -0.05825452 0.01969946
+v -0.09554445 -0.06937767 0.01993649
+v -0.09523205 -0.07140959 0.01976619
+v -0.09467372 -0.07271153 0.01805494
+v -0.08923337 -0.07271153 0.02007837
+v -0.09362354 -0.05516456 0.01933552
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+v -0.09875482 -0.05516456 0.01942734
+v -0.09921344 -0.05516456 0.01805501
+v -0.09916692 -0.05578805 0.01805501
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+v -0.09612604 -0.06937767 0.01805496
+v -0.09531181 -0.07156933 0.01805495
+v -0.09462388 -0.07271152 0.01753572
+v -0.09524202 -0.07140099 0.01631533
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+v -0.08292562 -0.07271152 0.01761920
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+v -0.09876811 -0.05930568 0.01825533
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+v -0.09566741 -0.06937766 0.01594805
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+v -0.08059927 -0.06654701 0.00322480
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+v -0.09722939 -0.05516454 0.01425857
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+v -0.08376643 -0.05578799 0.00322484
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+v -0.08308182 -0.05918711 0.00322482
+v -0.07893094 -0.06967132 0.00322478
+v -0.07861521 -0.07019176 0.00322478
+v -0.09212470 -0.07271151 0.01452228
+v -0.09431148 -0.06598024 0.01385951
+v -0.08129717 -0.06497541 0.00322480
+v -0.06526193 -0.07271147 0.00322477
+v -0.06526193 -0.06260341 0.00322481
+v -0.06808014 -0.05516450 0.00322817
+v -0.08387610 -0.05516450 0.00322484
+v -0.08285251 -0.06004762 0.00322482
+v -0.08215128 -0.06258451 0.00322481
+v -0.07749192 -0.07183549 0.00322478
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+v -0.08200838 -0.06298987 0.00322481
+v -0.07679734 -0.07271147 0.00322477
+v -0.06810674 -0.05516450 0.00322484
+v -0.07733572 -0.07203301 0.00322478
+f 1 2 3
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+
diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_28.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e8e078dcf269a06b40821b3a992f6e8bd2fd45f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_28.obj
@@ -0,0 +1,16 @@
+# https://github.com/mikedh/trimesh
+v -0.06526193 -0.06260388 0.00322532
+v -0.06526193 -0.07271147 0.00322528
+v -0.06526193 -0.07271149 0.00845668
+v -0.05061289 -0.07271148 0.00641431
+v -0.05061289 -0.06659645 0.00322531
+v -0.05061289 -0.07271147 0.00322528
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 4
+f 2 4 3
+f 4 6 5
+
diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_3.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df7111a0c8d6d320ea5b17a5783be3555653e542
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_3.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v -0.06278356 -0.09655908 0.02024919
+v -0.06277127 -0.09292681 0.02005383
+v -0.06278356 -0.09292973 0.02005383
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+v -0.06278356 -0.09859841 0.01805278
+v -0.05938500 -0.09901852 0.01805278
+v -0.03748794 -0.10167344 0.01650168
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+
diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_4.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15f88d8a39ab391ceaf50e7f22768f9bba615202
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_4.obj
@@ -0,0 +1,541 @@
+# https://github.com/mikedh/trimesh
+v 0.00087019 0.10308047 0.01512478
+v 0.00087019 0.10308047 0.01750613
+v 0.00087019 0.10195081 0.01352720
+v -0.00159257 0.10195081 0.01352563
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+v -0.00159257 0.10307329 0.01750297
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+v -0.00498948 0.10021507 0.01216192
+v -0.00838638 0.10016845 0.01218721
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_5.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..814a943784ac36eaa238bdfae6f4d1fcbe46532f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_5.obj
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_6.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4209a81bf73ecdd417b1a9601fda0ecf3d33eac
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_6.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_7.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80464fb6320a181b9bc5edc3508ac781dbe6d8cb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_7.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_8.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84bdb56d081bc322f08e4928927df4fb20b43c2d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/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/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_9.obj b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51d71b2efa47a1a6ad4dfcc4f3f316817d39f8fb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/f5a0bc078b1f5a6eb4f9e45644a41201/mjcf/mesh/saucer_collision_9.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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