diff --git a/.gitattributes b/.gitattributes
index dd05211e81e6563804c6cf26391138ec8d25be43..5dd58295ef1f8bbd6423602b200d7b88a2f35f04 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2926,6 +2926,6 @@ dataset/desktop_supplies/decorations/93b3f3a53827526d830d52ed3e187dfa/mesh/chess
 dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/9d18e8cf2a3257cabee21a293a333576.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mesh/thermos.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/9d18e8cf2a3257cabee21a293a333576/mesh/thermos_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/9abf9070da3c50cf82b73d1f226bb668.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mesh/thermos.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mesh/thermos_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/9b76c33f71aa5d56b1ce315cb1c6ba42.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/thermos.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/thermos_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/9b76c33f71aa5d56b1ce315cb1c6ba42.urdf b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/9b76c33f71aa5d56b1ce315cb1c6ba42.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7c00528868d46f18269b817d353dd711a5704a04
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/9b76c33f71aa5d56b1ce315cb1c6ba42.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="thermos">
+   <link name="thermos">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/thermos.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/thermos_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5000" />
+         <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>0.225000</scale>
+         <version>v0.1.7</version>
+         <category>thermos</category>
+         <description>green cylindrical thermos with black lid and handle</description>
+         <min_height>0.2</min_height>
+         <max_height>0.25</max_height>
+         <real_height>0.225</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.6</max_mass>
+         <generate_time>20260120055552</generate_time>
+         <gs_model>mesh/thermos_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.766016960144043</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>7</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/9b76c33f71aa5d56b1ce315cb1c6ba42/9b76c33f71aa5d56b1ce315cb1c6ba42.usd b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/9b76c33f71aa5d56b1ce315cb1c6ba42.usd
new file mode 100644
index 0000000000000000000000000000000000000000..71b1e38ccdc16d0504f5341b7a3c7637fd31d8f8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/9b76c33f71aa5d56b1ce315cb1c6ba42.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4e186de5ff7d155aed932c66a761811c0bc01e09c2b1ba2a6ac238029fc030c
+size 591813
diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/material.mtl b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/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/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/material_0.png b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9006463fa64ef2e9671ef41eb3c9a407e0e3f464
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9bb15243eb1aef04a7648a8c4cbd75c5103c57b20693a7e45080d790026037c
+size 1045130
diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/thermos.glb b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/thermos.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a3a7a5da303a13ac1e676505ad6a504ac61ce399
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/thermos.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:166b83873fd90a0d4fb7e007eff25aa1154814d6b359d24b48f8a11a52443d44
+size 1450604
diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/thermos.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/thermos.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44d5e30d435eb3a4005d1e172349240596f10b6c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/thermos.obj
@@ -0,0 +1,37072 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/thermos_collision.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/thermos_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28fe5166247cb6df8ce3705e3338cca3c3dd9130
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/thermos_collision.obj
@@ -0,0 +1,10076 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/thermos_gs.ply b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/thermos_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9a04667dfd8ee9363e5668ab43a9677ba9c32c07
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/thermos_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70637aa7aeb5ad3cd5e4f33e6f640259b9e4c4425f6bdfae1631dd34ef9c0d68
+size 3144201
diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/9b76c33f71aa5d56b1ce315cb1c6ba42.xml b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/9b76c33f71aa5d56b1ce315cb1c6ba42.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0587fb5988030784c014a343585d09adb8c95002
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/9b76c33f71aa5d56b1ce315cb1c6ba42.xml
@@ -0,0 +1,80 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="thermos">
+  <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/thermos.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/thermos_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/thermos_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/thermos_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/thermos_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/thermos_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/thermos_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/thermos_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/thermos_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/thermos_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/thermos_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/thermos_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/thermos_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/thermos_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/thermos_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/thermos_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/thermos_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/thermos_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/thermos_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/thermos_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/thermos_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/thermos_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/thermos_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/thermos_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/thermos_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/thermos_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/thermos_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/thermos_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/thermos_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/thermos_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/thermos_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/thermos_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/thermos_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/thermos_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="thermos">
+      <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" />
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+      <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" />
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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" />
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+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" 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/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9006463fa64ef2e9671ef41eb3c9a407e0e3f464
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9bb15243eb1aef04a7648a8c4cbd75c5103c57b20693a7e45080d790026037c
+size 1045130
diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6632b6701eeb84f5772963b340ffbd02085b1624
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos.obj
@@ -0,0 +1,37072 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9462a56dc1cb60be20d07ef1a6a07a2fa9669eb3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision.obj
@@ -0,0 +1,10076 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_0.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75b1fd24bc97261c6dcca250128d7c877511fe5b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_0.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_1.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9ea41042913187f5f2eef82c9e883e9efd35cd1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_1.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_10.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29a2250295b3e72ef779ee311075660f1c3e85ad
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_10.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_11.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7901ac492559839beb05d21d4ba31ce398b03926
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_11.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_12.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab140d2d2ea1cd206ffdaab3f7bf6bba091d2c0a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_12.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+v -0.02008113 -0.04392259 0.01571419
+v -0.02007849 -0.04521328 -0.08706915
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+f 52 55 53
+f 53 55 54
+
diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_13.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a11bd252c5e14844d4b77be28baeef6841f200dd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_13.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.04377584 0.00013953 0.01572441
+v -0.05187585 0.00013953 0.01572441
+v -0.04377377 0.00013954 0.01298733
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+v -0.04377584 0.00013984 -0.06851107
+v -0.03218635 0.02796212 -0.06166828
+v -0.04289725 0.02796183 0.01572451
+v -0.05181161 0.00290106 0.01572442
+v -0.05307147 0.00556765 -0.08707687
+v -0.05161268 0.00556727 0.01572443
+v -0.04443064 0.00013991 -0.08707689
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+v -0.04478290 0.02735762 -0.08707679
+v -0.05306733 0.00559489 -0.08707687
+v -0.05150493 0.00634889 0.01572443
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+v -0.03292610 0.02796221 -0.08707679
+v -0.04442649 0.00013991 -0.08704670
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+v -0.03222158 0.02796214 -0.06851097
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+v -0.03236248 0.02796217 -0.07667188
+v -0.03227752 0.02796216 -0.07286815
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+v -0.04991145 0.01376472 0.01572446
+v -0.04906602 0.01642549 0.01572447
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+f 1 21 32
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+f 49 51 50
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+f 54 59 57
+f 56 57 59
+
diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_14.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c39cde169fc036edb946f191740712d00a56e74
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_14.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.00624969 -0.03844412 -0.08706912
+v -0.00624969 -0.04692955 -0.08706915
+v -0.00624969 -0.03844160 -0.08703892
+v 0.02554519 -0.02109125 -0.08706906
+v -0.00553232 -0.04693461 -0.08706915
+v -0.00553232 -0.04616842 0.01571418
+v -0.00624969 -0.04614565 0.01571418
+v -0.00624969 -0.03842136 -0.08631439
+v 0.02527309 -0.02109126 -0.08333569
+v 0.02549160 -0.02109125 -0.08654578
+v 0.03586864 -0.02109125 -0.08706906
+v -0.00189603 -0.04677269 -0.08706915
+v -0.00189603 -0.04606975 0.01571418
+v -0.00624969 -0.03758938 0.01571421
+v -0.00624969 -0.03835559 -0.08333575
+v 0.02515353 -0.02109128 -0.07981364
+v 0.03500697 -0.02282173 -0.08706906
+v 0.03500285 -0.02109163 0.01571427
+v 0.00179798 -0.04637549 -0.08706915
+v 0.00174026 -0.04561183 0.01571418
+v 0.02530607 -0.02109163 0.01571427
+v -0.00624969 -0.03757419 0.01298713
+v 0.02514941 -0.02109128 -0.07963251
+v -0.00624969 -0.03766262 -0.02035153
+v 0.03486680 -0.02307726 -0.08706906
+v 0.03378251 -0.02340400 0.01571426
+v 0.00195877 -0.04634007 -0.08706915
+v 0.00538068 -0.04481996 0.01571419
+v 0.00442007 -0.04502994 0.01571418
+v 0.02529370 -0.02109162 0.01298719
+v -0.00624969 -0.03756153 0.00928396
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+v -0.00624969 -0.03765503 -0.01962699
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+v 0.03349391 -0.02389481 0.01571426
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+v 0.00534769 -0.04555832 -0.08706915
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+v -0.00624969 -0.03756658 0.00558078
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+v 0.02503397 -0.02109132 -0.06732548
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+v 0.03233954 -0.02574420 0.01571426
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+v 0.00871601 -0.04384340 0.01571419
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+v 0.02844763 -0.03185110 -0.08706910
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+v 0.01209256 -0.04254807 0.01571419
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+v 0.01939401 -0.03860389 0.01571421
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+f 75 80 76
+f 77 78 79
+
diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_15.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4abe64dbbf23ad07fd8b251016c7b45129418009
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_15.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.00554272 0.04458513 -0.08707673
+v -0.00554272 0.03852500 -0.08707675
+v -0.00554272 0.04702324 -0.08706666
+v -0.00553163 0.04702520 -0.08707672
+v 0.02008533 0.02746360 -0.08707679
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+v -0.00554272 0.03852304 -0.08704656
+v -0.00554272 0.04626291 0.01572458
+v -0.00444516 0.04697440 -0.08707672
+v -0.00553163 0.04626291 0.01572458
+v 0.02331886 0.02706897 -0.08707679
+v 0.02016663 0.02706895 -0.08301142
+v -0.00554272 0.03846052 -0.08334346
+v -0.00554272 0.04619062 0.01572458
+v -0.00189529 0.04683570 -0.08707672
+v -0.00457451 0.04621016 0.01572458
+v 0.03221015 0.02706897 -0.08707679
+v 0.02005946 0.02706894 -0.07963034
+v 0.02005207 0.02706894 -0.07928821
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+v 0.01997816 0.02706893 -0.07566561
+v -0.00554272 0.03810271 -0.00554816
+v -0.00554272 0.03806356 0.01571449
+v -0.00553163 0.03806356 0.01572455
+v -0.00154053 0.04680835 -0.08707672
+v -0.00189529 0.04605582 0.01572458
+v 0.03170757 0.02778790 -0.08707679
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+v 0.01994491 0.02706891 -0.07198263
+v -0.00554272 0.03806360 0.00557121
+v 0.02018881 0.02706859 0.01572451
+v -0.00554272 0.03805968 0.00927431
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+v -0.00093447 0.04593470 0.01572458
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+v 0.00537738 0.04480160 0.01572457
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+f 1 15 9
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+f 54 60 61
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+f 69 70 75
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+f 69 76 74
+f 72 74 76
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+
diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_16.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c07eaf4377ddf2a8897c8bfd65d90323b7fff4e7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_16.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.03994448 0.00014216 0.01572441
+v 0.03994448 0.00041628 0.01572441
+v 0.03142724 0.00014216 0.01572441
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+v 0.03986707 0.00174999 0.01572442
+v 0.04071044 0.00194541 -0.08707688
+v 0.02019247 0.02706663 0.01572451
+v 0.01991338 0.02706687 -0.04998540
+v 0.03129483 0.00014236 -0.03887620
+v 0.03272489 0.00014254 -0.08707689
+v 0.03983855 0.00222706 0.01572442
+v 0.04043950 0.00565923 -0.08707687
+v 0.03121742 0.02706663 0.01572451
+v 0.01991134 0.02706689 -0.05369857
+v 0.03129483 0.00014238 -0.04257930
+v 0.02047970 0.02706701 -0.08704660
+v 0.02048378 0.02706701 -0.08706673
+v 0.02188736 0.02566478 -0.08707680
+v 0.03247432 0.00014253 -0.08345429
+v 0.02016802 0.02706699 -0.08301142
+v 0.03959206 0.00472051 0.01572443
+v 0.04033765 0.00647895 -0.08707687
+v 0.03950446 0.00556659 0.01572443
+v 0.03249877 0.02524004 0.01572450
+v 0.03220950 0.02706701 -0.08707679
+v 0.03129890 0.00014239 -0.04628240
+v 0.03129686 0.00014238 -0.04444092
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+v 0.02332354 0.02706701 -0.08707679
+v 0.03180207 0.00014247 -0.06851107
+v 0.02006413 0.02706698 -0.07963034
+v 0.03172466 0.00014246 -0.06666958
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+v 0.03903795 0.00823136 0.01572444
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+v 0.02005598 0.02706698 -0.07928821
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+v 0.03135798 0.00014242 -0.05369867
+v 0.03994041 0.00918853 -0.08707686
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+v 0.03979169 0.00998454 -0.08707685
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+v 0.03671767 0.01913332 -0.08707682
+v 0.03907259 0.01278900 -0.08707684
+v 0.03690101 0.01632320 0.01572447
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+v 0.03673193 0.01910169 -0.08707682
+v 0.03625116 0.01813398 0.01572448
+v 0.03782790 0.01640529 -0.08707683
+v 0.03781975 0.01642638 -0.08707683
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+f 1 13 7
+f 1 7 3
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+f 17 29 18
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+f 54 57 59
+f 54 59 58
+f 55 60 56
+f 56 60 59
+f 58 59 61
+f 59 60 61
+
diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_17.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cfea9f638f6ec2022324746faf8c2a7d1d2da15
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_17.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.03323313 -0.03874889 -0.08706912
+v -0.03453188 -0.03779342 -0.08706912
+v -0.03323313 -0.02741648 -0.08706908
+v -0.03323313 -0.03725705 0.01361104
+v -0.03380380 -0.03683072 0.01571421
+v -0.03383331 -0.03684974 0.01298713
+v -0.03386677 -0.03688017 0.00928396
+v -0.03652723 -0.03614894 -0.08706911
+v -0.03568501 -0.03542222 0.00928397
+v -0.04442990 0.00013991 -0.08706898
+v -0.03323313 -0.02741267 -0.08705901
+v -0.03323313 -0.03722280 0.01571421
+v -0.03428394 -0.03644624 0.01571422
+v -0.03819592 -0.03456157 -0.08706911
+v -0.03761148 -0.03358363 0.01298715
+v -0.03565156 -0.03539179 0.01298714
+v -0.05333222 0.00013991 -0.08706898
+v -0.04442596 0.00013991 -0.08703878
+v -0.03323313 -0.02740886 -0.08703888
+v -0.03323313 -0.02632054 0.01571425
+v -0.03562204 -0.03536896 0.01571422
+v -0.03858948 -0.03418090 -0.08706911
+v -0.03758197 -0.03355699 0.01571423
+v -0.03940218 -0.03171457 0.01571423
+v -0.03942973 -0.03173740 0.01298715
+v -0.04021488 -0.03258591 -0.08706910
+v -0.05332434 -0.00167967 -0.08706899
+v -0.05187014 -0.00168005 0.01571434
+v -0.05187408 -0.00072458 0.01571435
+v -0.05187605 0.00013953 0.01571435
+v -0.04428625 0.00013990 -0.08518719
+v -0.04415047 0.00013990 -0.08333561
+v -0.04406192 0.00013989 -0.08147395
+v -0.04397534 0.00013988 -0.07963243
+v -0.03323313 -0.02702059 -0.08333571
+v -0.04377463 0.00013954 0.01437597
+v -0.04377659 0.00013953 0.01571435
+v -0.03323313 -0.02682649 -0.07221611
+v -0.04377463 0.00013984 -0.06851283
+v -0.04376675 0.00013980 -0.05740330
+v -0.04375888 0.00013973 -0.03887734
+v -0.04098625 -0.02990260 0.01571424
+v -0.04191899 -0.03064832 -0.08706909
+v -0.05303508 -0.00529980 -0.08706900
+v -0.05159662 -0.00530018 0.01571433
+v -0.04385530 0.00013987 -0.07579843
+v -0.04380808 0.00013986 -0.07389653
+v -0.03323313 -0.02689119 -0.07963253
+v -0.03323313 -0.02685694 -0.07592935
+v -0.04379037 0.00013986 -0.07224619
+v -0.04280450 -0.02761861 0.01571425
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+v -0.05247229 -0.00891993 -0.08706901
+v -0.05120503 -0.00821989 0.01571432
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+v -0.04414654 -0.02580664 0.01571426
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+v -0.05163401 -0.01245251 -0.08706903
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+v -0.04896567 -0.01980697 -0.08706905
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+f 1 19 35
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+f 69 73 74
+f 69 74 70
+f 71 75 76
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+f 71 77 72
+f 73 76 74
+f 74 76 75
+
diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_18.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..203620920392d282e1f44640a929ab86668dc96c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_18.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.03085221 0.00013997 -0.10216228
+v 0.03272620 0.00013991 -0.08707903
+v 0.04215420 0.00013997 -0.10216228
+v 0.02772983 -0.01705090 -0.10216234
+v 0.02788694 -0.01705096 -0.08707909
+v 0.04072181 0.00013991 -0.08707903
+v 0.04218251 0.00013996 -0.10186700
+v 0.04218817 -0.00167740 -0.10186701
+v 0.04215845 -0.00138796 -0.10216229
+v 0.03911533 -0.01705090 -0.10216234
+v 0.03768011 -0.01705096 -0.08707909
+v 0.04149887 0.00013992 -0.09075240
+v 0.04073455 -0.00167745 -0.08707904
+v 0.04217118 0.00013996 -0.10000817
+v 0.04215986 -0.00167741 -0.09816264
+v 0.04194472 -0.00529866 -0.10186702
+v 0.04215845 -0.00167739 -0.10216229
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+v 0.04132194 -0.00529870 -0.09075242
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+v 0.04176355 -0.00529868 -0.09445827
+v 0.04191641 -0.00529867 -0.09816265
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+v 0.04187537 -0.00558640 -0.10216230
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+v 0.03914505 -0.01705091 -0.10186706
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+v 0.04003959 -0.01466646 -0.10216233
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diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_19.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa3dc8607dc32496e5a3d523f1b8493ad1561cc0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_19.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_2.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e3c159d14fafe559cc8d4ec9d28fb3ce644fdf1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_2.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_20.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a33f41eb2d27731a346c7fceb1e9111ed9f13deb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_20.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 0.02979943 -0.01134571 0.10562556
+v 0.03000638 -0.01134572 0.10790248
+v 0.03141703 0.00007707 0.10753805
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diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_21.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9eb2e61d624a76d473d6c257da3238b5bdcc34d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_21.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_22.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..276bb357e6069cb9fe552e0b79e099ed42f51da4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_22.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_23.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67a3c9fc578b3efea202a0a74cb28f57738ea081
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_23.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_24.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49386228b3bb2b3107872a13c4226593881bae2d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_24.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_25.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20abac633fe9d95cb4c26b0115938fb555d91f70
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_25.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_26.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8356ab88005932b42ff5946ab89e05e7760167ea
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_26.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_27.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbbce1d994cc9cc2e198da0767ecbb8f1d66c5c0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_27.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_28.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65015d1c591901aa4a3def9c8bd0864268cb60c9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_28.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_29.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..912666ea8ce269b96037923412344d243735fe12
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_29.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_3.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bfaf337b900b90a6c4d713a2b3ec1811ee8d028
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_3.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_30.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..582db71c0734e4f4ca09a40fe23e804890679b85
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_30.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_31.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a66d8f25e9c4837c7a24f8aa3474affb4edd7d9a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_31.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_32.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac1e9bfe12f21ae72b6bae8d8c30889adafa5d61
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_32.obj
@@ -0,0 +1,352 @@
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diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_4.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cb0a3c4d47fafae6ff86be54335ab282480ba76
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_4.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_5.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cd73c2e08934023b8ff89a6c7c4e22e6c699823
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_5.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_6.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..269816e689fec851879cbdc4835b990c1271957e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_6.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.03429157 -0.02252268 0.07086163
+v 0.03559108 -0.02000049 0.07086164
+v 0.02390869 -0.02252268 0.07086163
+v 0.03429486 -0.02252255 0.03522829
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+v 0.02422657 -0.02252248 0.01571884
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+v 0.03129727 0.00013973 -0.03886734
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+
diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_7.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d09b40ab4913ca37f32d8f9cf5761a88bc474a2e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_7.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.04031858 0.00007833 0.07101502
+v 0.04031714 0.00194524 0.07101503
+v 0.03144950 0.00007833 0.07101502
+v 0.03994406 0.00007853 0.01572982
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+
diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_8.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e68cff87d99655b22553f1d7e98f317952f0130
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_8.obj
@@ -0,0 +1,1051 @@
+# https://github.com/mikedh/trimesh
+v -0.05467299 0.00013050 -0.10204134
+v -0.05464455 0.00013051 -0.10379325
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diff --git a/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_9.obj b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5492f9a681dca20b13620c36e1492d8be48379d1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mjcf/mesh/thermos_collision_9.obj
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