diff --git a/.gitattributes b/.gitattributes
index f0303b5c47ebedc52a8ad95b3492d9652030d16e..52251b7205730991347152f4dfbef541c84c76e1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2931,4 +2931,6 @@ dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/therm
 dataset/desktop_supplies/decorations/9b76c33f71aa5d56b1ce315cb1c6ba42/mesh/thermos_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mesh/mini_sculpture_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/5d7d6884dd305709b251ed73ae2bbfb2/mini_sculpture_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/a7c5fe8ac03251f9832ddf9ff91e6712/a7c5fe8ac03251f9832ddf9ff91e6712.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/a360cc1a3c4e58e3bfb24deb3f57c4a1.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mesh/thermos.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mesh/thermos_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/a360cc1a3c4e58e3bfb24deb3f57c4a1.urdf b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/a360cc1a3c4e58e3bfb24deb3f57c4a1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1c31e92a8cfbc0012ebdb9a63aac7f1e21eef1b9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/a360cc1a3c4e58e3bfb24deb3f57c4a1.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="0.4000" />
+         <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>blue cylindrical thermos with black lid and slightly tapered body</description>
+         <min_height>0.2</min_height>
+         <max_height>0.25</max_height>
+         <real_height>0.225</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <generate_time>20260120055230</generate_time>
+         <gs_model>mesh/thermos_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.3726043701171875</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</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/a360cc1a3c4e58e3bfb24deb3f57c4a1/a360cc1a3c4e58e3bfb24deb3f57c4a1.usd b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/a360cc1a3c4e58e3bfb24deb3f57c4a1.usd
new file mode 100644
index 0000000000000000000000000000000000000000..13a303dd4f2fd40f01419a723b2676e4120265da
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/a360cc1a3c4e58e3bfb24deb3f57c4a1.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a7a584316022592aec9d602885fb2c2ffc628ed0db56592f09e4bb64d0a4607
+size 961304
diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mesh/material.mtl b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/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/a360cc1a3c4e58e3bfb24deb3f57c4a1/mesh/material_0.png b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..37145cf1a9470b47a178c0be3e0e12a614e825bf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47eee157d75f2d0cbfe87307aec3e19b846ee805f357d2aea91b268c656cbd70
+size 1359110
diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mesh/thermos.glb b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mesh/thermos.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b2487130c4404e4faff6abe2a9fc88f0df9762b1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mesh/thermos.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6904d5c89bb610d5825821ee87720b17bf5602baf698a8afa0096a7eae69341
+size 2012648
diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mesh/thermos.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mesh/thermos.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa857403e5e2b00cf6ce9cf573a3ac18d38317d8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mesh/thermos.obj
@@ -0,0 +1,59728 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mesh/thermos_collision.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mesh/thermos_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f3a65d2f2d0c676b04208601437a048b0eac319
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mesh/thermos_collision.obj
@@ -0,0 +1,10953 @@
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diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mesh/thermos_gs.ply b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mesh/thermos_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..aa3998005b38fa85ba821dbc9e183d268157e36d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mesh/thermos_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1495492755ddb8686f9e1ed8951d2ff8c5cd2d1b0d679124b1ca50802cdaaaa4
+size 3373801
diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/a360cc1a3c4e58e3bfb24deb3f57c4a1.xml b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/a360cc1a3c4e58e3bfb24deb3f57c4a1.xml
new file mode 100644
index 0000000000000000000000000000000000000000..884f878eda3e3ea0ad6dcf0b82f610f0586211d6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/a360cc1a3c4e58e3bfb24deb3f57c4a1.xml
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+<?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" />
+  </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" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..37145cf1a9470b47a178c0be3e0e12a614e825bf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47eee157d75f2d0cbfe87307aec3e19b846ee805f357d2aea91b268c656cbd70
+size 1359110
diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de3e5cfbf303017a51649f86de3df9d4d4989e56
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos.obj
@@ -0,0 +1,59728 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b55e79e633a228523cab2ef5d1e8e61ba87ee5bf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision.obj
@@ -0,0 +1,10953 @@
+# https://github.com/mikedh/trimesh
+
+o thermos_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_0.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acc9d6d5f85de121c4c338581d13ee05ce1d8cc7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_0.obj
@@ -0,0 +1,1462 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_1.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f85eaff92e303b5a39a6c36b1d45b9a559f111d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_1.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_10.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be9c8fed34f92e2c4098b557121e5235635aa736
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_10.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_11.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aeba8ad50dbe46a4198fcfaf517d93c781692c5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_11.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v -0.02477132 0.00057982 0.10523237
+v -0.02477132 0.00057983 0.10223149
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+
diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_12.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72cb45546489d5043d13e131d75c885946829029
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_12.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.04848074 -0.00054917 0.10935914
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+
diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_13.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d1702da2886eae5c4f38e93b2ae7aa363d8f874
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_13.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.02920104 0.03249507 0.10127115
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diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_14.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca88b338ff10303a20643488c607a5c7b6be385b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_14.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_15.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4123712296e831e9c9f7c248bcfb32b81e9a0a0a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_15.obj
@@ -0,0 +1,559 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_16.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..756af28322005bc196414b80fde9439ee982eb29
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_16.obj
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diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_17.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f68c1d2581ec1d8831c4bc690b450e83e631c23
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_17.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.02254436 -0.03233841 0.09988656
+v -0.02255767 -0.03234784 0.09988656
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+f 2 10 4
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+f 5 10 9
+f 5 9 8
+f 5 8 7
+f 5 7 6
+
diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_18.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6487ff4e5c3e3ae40415d4a929e352c4c6a30b00
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_18.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_19.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02a011c4c017e720daf908952c34b8a5494fd45f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_19.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+v -0.03112004 -0.02994963 0.08746661
+v -0.04281923 -0.02994961 0.08143973
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+v -0.04371536 -0.02840180 0.08746662
+v -0.04280356 -0.02994961 0.08265337
+v -0.04377283 -0.02848246 0.08143974
+v -0.05222196 0.00015546 0.08143984
+v -0.05221674 0.00057678 0.08337918
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+v -0.04375977 -0.02845557 0.08337908
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+v -0.05154791 -0.00829489 0.08708790
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+v -0.05062828 -0.01265154 0.08708788
+v -0.05062044 -0.01265154 0.08746667
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+f 1 13 7
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+f 1 14 21
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+
diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_2.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48ee338d079ea6e12479c5c5c8d997a5cd956f09
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_2.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.03082764 -0.03399111 0.11040166
+v 0.02669705 -0.03809695 0.10926603
+v 0.03032844 -0.03809695 0.10962933
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+v -0.00026902 -0.04667713 0.10408845
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+v 0.03082764 -0.04026067 0.10817360
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+v 0.01107566 -0.05100955 0.10192138
+v 0.01288983 -0.05050659 0.10192138
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+v 0.02146151 -0.04729213 0.10192140
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+f 60 63 61
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+
diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_20.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a553f06c7deb9cac6792b27fdf56ea6c9992a9e8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_20.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v -0.04282166 -0.02994961 0.08143973
+v -0.04224685 -0.03082739 0.08143973
+v -0.04222186 -0.03082740 0.08337907
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diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_21.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c4c1af3c8bd6acc8b4819fea13dc5fa321d94f0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_21.obj
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diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_3.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dc24d06f47219a20d38049098c719e291c83e54
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_3.obj
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diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_4.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29ac1a09033c85e16f2573eab3e9125501200cc2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_4.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_5.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bec2394b68b92c8c9337cf415160235f8fdd84e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_5.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_6.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..627e70f67e3e58706ada1d7d010f0a7752251d6b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_6.obj
@@ -0,0 +1,499 @@
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diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_7.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f248296ac7b5d8489e02068b48a8a8be4972a338
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_7.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_8.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..502e479d620fca63d11919dfa81e858c39dcd383
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_8.obj
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diff --git a/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_9.obj b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7c3d61df3e85ff63f447ad9f810341ee17954ac
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/a360cc1a3c4e58e3bfb24deb3f57c4a1/mjcf/mesh/thermos_collision_9.obj
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