diff --git a/.gitattributes b/.gitattributes
index c26f124c328ecbd05258c0c1aa2d942f5ca29a59..dd05211e81e6563804c6cf26391138ec8d25be43 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/a22182738e335999bf149b6c1749df9e/a22182738e335999bf149b6c1749df9e.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mesh/chess_pawn.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/a22182738e335999bf149b6c1749df9e/mesh/chess_pawn_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
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/9abf9070da3c50cf82b73d1f226bb668.urdf b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/9abf9070da3c50cf82b73d1f226bb668.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0f6486d28d7d345771532a8ea464ff080baf9c9c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/9abf9070da3c50cf82b73d1f226bb668.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>0.50</mu1>
+            <mu2>0.40</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>pink cylindrical thermos with black base and lid, red accent on top.</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>20260120061323</generate_time>
+         <gs_model>mesh/thermos_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.129145622253418</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/9abf9070da3c50cf82b73d1f226bb668.usd b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/9abf9070da3c50cf82b73d1f226bb668.usd
new file mode 100644
index 0000000000000000000000000000000000000000..163ce3c27d4ba179adc133a21c80cf17682a877a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/9abf9070da3c50cf82b73d1f226bb668.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a07ea50709e1d6cb2ce7381aa86f04f30affbf62fe84097dea637bd3b0a72cd6
+size 554747
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mesh/material.mtl b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/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/9abf9070da3c50cf82b73d1f226bb668/mesh/material_0.png b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..710fb4a4482ca4c2ca9174ea3adbc388fb39c5f0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96ceea147ac09785c948c6339f7bdc28dbf49b96549b754d177b05e9f4c486ab
+size 1099406
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mesh/thermos.glb b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mesh/thermos.glb
new file mode 100644
index 0000000000000000000000000000000000000000..07c2c2de26924d87879e1ceb381c8e982c1dd2ea
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mesh/thermos.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcef3b03a21b7bd200cf032126e2d2b61a68aae2ffc1a017002d3b53e242f05c
+size 1485620
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mesh/thermos.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mesh/thermos.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdd504cbf57f38e71ce18cb25570f9587b807864
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mesh/thermos.obj
@@ -0,0 +1,35391 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mesh/thermos_collision.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mesh/thermos_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eadbdaced80a9cb82b6a1ac2a5b5271141f22e6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mesh/thermos_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos.obj
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index 0000000000000000000000000000000000000000..d4404e9fea8238d6758936e5fbe567fbff499b81
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+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos.obj
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eeb8adca1f8564cd53f9460e736989dc3ef45963
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision.obj
@@ -0,0 +1,14447 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_0.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a81e96f58b52a55cdf116e75119d1e3222c13724
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_0.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_1.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a95c68674ab4dd4d821eeba5842ceb1d82e9056
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_1.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_10.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22ee50c0ed56d90d706f536fb47372d9e4eea1d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_10.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v 0.02184506 -0.03311253 -0.05810368
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_11.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d61d75604411dabfb8d4fc6d4c6dad708280932
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_11.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_12.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6491dd1032888c6b16237c455e2e471fff4340a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_12.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_13.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1f4e14bf30c8303c8f25e89270913a310c820f2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_13.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_14.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa2ab66a6d5dfea4b86aee0a62fa5a51a872854f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_14.obj
@@ -0,0 +1,163 @@
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_15.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7682439a97e43a36e203405e3ecc6d8b3d141475
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_15.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_16.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17c30f6711d8b01f3d402abc1fdb68d0fecee591
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_16.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.03782152 0.00001708 -0.00304296
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+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_17.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c4037ea7aac14cf4c44f2fd554498d373986ed4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_17.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
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+v 0.02223192 -0.03289413 0.04988326
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_18.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2419096db79c900bee6f15506d856fb05b706b1f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_18.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_19.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32e4ba16aacf79c383075b83986afb3909901d8f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_19.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_2.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6620e9e3c6d591c8f592ab8188201fa4d5aa1191
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_2.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_20.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04226c73d28bfd1346d5cc7d5f9b7d9aa0d4be30
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_20.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_21.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28057165b909fcd7c7c91070687e53c58549b2b7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_21.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_22.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71239f00581e8c8e5e010a26170259ac128ffb33
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_22.obj
@@ -0,0 +1,352 @@
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_23.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c9c24e2c6efe9a657c04a71e09b58c4591669fa
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_23.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_24.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4de8eea6349c2063fb671b41fd4b57f314b52be6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_24.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_25.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a2d4ef2ba555d7a2b5f8c6ae5bc819fdb31885b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_25.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_26.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06a4e1e0d0da6241874985d266d70460ab81cb5f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_26.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_27.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cff291935c6e234b72f090e2c023caa20534155e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_27.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_28.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..290e1b2d96d8d65b67e943858b78cc84ef7309dc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_28.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.02291752 0.01778824 -0.08743601
+v 0.01265930 0.02731412 -0.08703115
+v 0.01265930 0.02732202 -0.08743598
+v 0.02291752 0.03229153 -0.08743596
+v 0.02291752 0.02083210 -0.00304288
+v 0.01265930 0.02906717 -0.00304285
+v 0.01265930 0.03792324 -0.08743594
+v 0.02280103 0.03240223 -0.08743596
+v 0.02291752 0.03199471 -0.00304284
+v 0.01265930 0.03790514 -0.00304282
+v 0.01265930 0.03796864 -0.06884714
+v 0.01592908 0.03660674 -0.08743595
+v 0.02214326 0.03293792 -0.08743596
+v 0.02195447 0.03281110 -0.00304284
+v 0.01563082 0.03666770 -0.00304283
+v 0.01265930 0.03797646 -0.04645797
+v 0.01265930 0.03797455 -0.06513765
+v 0.01750572 0.03584767 -0.08743595
+v 0.01265930 0.03797652 -0.06128770
+v 0.01265930 0.03798043 -0.05031618
+v 0.01570212 0.03670351 -0.06128771
+v 0.01569710 0.03670545 -0.05387698
+v 0.02082169 0.03380373 -0.08743596
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+v 0.01613394 0.03642457 -0.00304283
+v 0.01569308 0.03670543 -0.05016748
+v 0.01949309 0.03466756 -0.08743595
+v 0.01749568 0.03583770 -0.06128771
+v 0.01742438 0.03579992 -0.00304283
+v 0.01749066 0.03583371 -0.05387698
+v 0.01748061 0.03582973 -0.04645798
+f 1 2 3
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+f 1 13 8
+f 1 8 4
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+f 27 28 30
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+f 27 31 29
+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_29.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8587d48bc4717fa413409ddb286c470b35330f54
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_29.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.00176580 0.04015531 -0.08743593
+v 0.00177386 0.04014897 -0.08743593
+v -0.00176580 0.03111665 -0.08743597
+v -0.00176580 0.04025287 -0.06132900
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+v 0.00440143 0.03991054 -0.08743593
+v 0.01265830 0.02732084 -0.08743598
+v -0.00176580 0.03098602 -0.08742771
+v -0.00176580 0.04026173 -0.05762776
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+v 0.00536012 0.03981162 -0.08743593
+v 0.00526835 0.03989398 -0.06869842
+v 0.01265830 0.03792323 -0.08743594
+v 0.01265830 0.02731450 -0.08703115
+v -0.00176580 0.03098348 -0.08722942
+v -0.00176580 0.04026806 -0.05391827
+v 0.00177386 0.04026931 -0.05016746
+v 0.00530223 0.03991423 -0.05387696
+v 0.00531070 0.03990918 -0.06128769
+v 0.00710242 0.03964286 -0.06498892
+v 0.00706006 0.03963653 -0.06869842
+v 0.00672544 0.03959602 -0.08743593
+v 0.01251287 0.03798030 -0.08743594
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+v 0.00529800 0.03991547 -0.05016746
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+v 0.01265830 0.03798016 -0.05016747
+v 0.01265830 0.03798016 -0.05031618
+v 0.01252981 0.03802961 -0.04645797
+v 0.01265830 0.03797891 -0.05402568
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+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_3.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b95f96638035e663c51a42ec656061113637cb93
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_3.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00015844 -0.03099211 -0.08758297
+v 0.00015844 -0.04015767 -0.08758301
+v 0.00015844 -0.03099211 -0.08722710
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+v 0.00171446 -0.04015767 -0.08758301
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+v 0.00177390 -0.04015564 -0.08758301
+v 0.00177390 -0.04024706 -0.05758231
+v 0.00015844 -0.04024097 -0.05758231
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+v 0.01582689 -0.03664945 -0.05016695
+v 0.01573774 -0.03659889 -0.00304310
+f 1 2 9
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+f 1 19 11
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+f 1 10 3
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+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_30.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b14dd490d099684f877168f3655f357ab7a7c28
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_30.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.00523190 0.03961302 0.08719115
+v 0.00523190 0.03258367 0.08719112
+v 0.00523190 0.03956041 0.09806049
+v 0.00583094 0.03948593 0.09806049
+v 0.00590759 0.03949251 0.09435478
+v 0.00598141 0.03949911 0.09065031
+v 0.00605522 0.03950350 0.08719115
+v 0.00523190 0.03256610 0.09991207
+v 0.02533233 0.01723695 0.08719106
+v 0.00523190 0.03954726 0.09991210
+v 0.00577416 0.03948154 0.09991210
+v 0.00894537 0.03889010 0.09991209
+v 0.00894537 0.03890326 0.09806048
+v 0.00894537 0.03891205 0.09065030
+v 0.00894537 0.03891425 0.08719114
+v 0.02583768 0.01723690 0.09991201
+v 0.03386365 0.01723695 0.08719106
+v 0.01253108 0.03789342 0.09991209
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+v 0.01253108 0.03789565 0.09065030
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+v 0.03423273 0.01723690 0.09991201
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+v 0.03342644 0.01948437 0.09991202
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+v 0.02386738 0.03159575 0.08719112
+v 0.02592285 0.02969877 0.08719111
+v 0.02592285 0.02970533 0.09065027
+v 0.02401501 0.03150590 0.09806046
+v 0.02400933 0.03149932 0.09991207
+v 0.02221506 0.03299106 0.09991207
+v 0.02398662 0.03149718 0.08719112
+v 0.02311219 0.03224847 0.09991207
+f 1 2 8
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+f 37 42 43
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+f 43 49 50
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+f 47 53 48
+f 48 53 54
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+f 50 56 57
+f 50 57 51
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+f 53 61 54
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+f 57 59 64
+f 57 64 58
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+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_31.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21c8df065280df874c589fdb5e787446d28df194
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_31.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.00008881 0.00234863 0.10257985
+v -0.00008881 -0.01388484 0.10055948
+v -0.00008881 0.00234860 0.11083963
+v 0.01233042 0.00234865 0.09672094
+v -0.00008881 -0.01388488 0.11251533
+v 0.00956844 -0.01388483 0.09672088
+v 0.01611495 0.00234860 0.11252948
+v 0.02130739 0.00234865 0.09672094
+v 0.00761374 -0.01388488 0.11263122
+v 0.00894629 -0.01254824 0.11264845
+v 0.01611495 -0.00175030 0.11270801
+v 0.01611495 0.00184955 0.11255298
+v 0.01998775 -0.01388483 0.09672088
+v 0.01661224 0.00234860 0.11246840
+v 0.02174870 0.00234863 0.10294788
+v 0.02131169 0.00184960 0.09672094
+v 0.01134876 -0.01388488 0.11238690
+v 0.01253062 -0.01254824 0.11259677
+v 0.01611495 -0.00535014 0.11272052
+v 0.01927950 -0.00175030 0.11197819
+v 0.01995115 0.00234860 0.11179497
+v 0.01999852 -0.01384986 0.09672088
+v 0.01977678 -0.01388483 0.09806149
+v 0.02190370 0.00234862 0.10547249
+v 0.02128801 -0.00305192 0.09672092
+v 0.02132246 0.00054793 0.09672093
+v 0.01253062 -0.01388488 0.11215982
+v 0.01483191 -0.01388488 0.11142373
+v 0.01530982 -0.01254824 0.11170095
+v 0.01639481 -0.00918362 0.11207213
+v 0.01883172 -0.00535014 0.11185132
+v 0.02143225 0.00234860 0.11068301
+v 0.02023747 0.00234860 0.11165715
+v 0.01997053 0.00211179 0.11178401
+v 0.02008247 0.00234860 0.11173389
+v 0.02017935 -0.01254819 0.09806149
+v 0.02035802 -0.01254819 0.09672088
+v 0.01933332 -0.01388484 0.10039190
+v 0.02121267 -0.00665017 0.09672091
+v 0.02124281 -0.00535009 0.09672091
+v 0.02167336 0.00234861 0.10910279
+v 0.02155065 -0.00027221 0.10780758
+v 0.02101892 -0.00894835 0.09672090
+v 0.01618384 -0.01388487 0.10929066
+v 0.01709445 -0.01261340 0.10939402
+v 0.01777472 -0.01054091 0.11077380
+v 0.01835812 -0.00814102 0.11149423
+v 0.02134614 0.00108666 0.11027738
+v 0.02162384 0.00234861 0.10943480
+v 0.02017504 -0.00535013 0.10917793
+v 0.01984998 -0.00894838 0.10547245
+v 0.01947324 -0.01254820 0.10176853
+v 0.02078427 -0.00535012 0.10547246
+v 0.02083378 -0.01025002 0.09672089
+v 0.01882957 -0.00918361 0.10939404
+v 0.01857770 -0.01261339 0.10540979
+v 0.01848298 -0.01388485 0.10390160
+v 0.02164752 0.00211180 0.10909652
+v 0.02106413 -0.00158341 0.10909650
+v 0.01760896 -0.01388486 0.10658909
+v 0.01762618 -0.01385466 0.10660318
+v 0.01824402 -0.01145477 0.10830401
+v 0.01826555 -0.01388485 0.10461576
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 14
+f 1 14 21
+f 1 21 35
+f 1 35 33
+f 1 33 32
+f 1 32 49
+f 1 49 41
+f 1 41 24
+f 1 24 15
+f 1 15 8
+f 1 8 4
+f 1 4 2
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+f 2 13 23
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+f 2 38 57
+f 2 57 63
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+f 3 5 7
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+f 36 53 50
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+f 38 55 56
+f 38 56 57
+f 41 58 42
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+f 42 58 48
+f 42 48 59
+f 42 59 53
+f 42 53 54
+f 42 54 43
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+f 44 61 45
+f 45 61 46
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+f 46 62 55
+f 46 55 47
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+f 47 50 48
+f 48 50 59
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+f 50 55 51
+f 51 55 52
+f 55 62 56
+f 56 62 57
+f 57 62 63
+f 60 63 61
+f 61 63 62
+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_32.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faceef07e65c0b38ab49ea4a700a73f3826429ed
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_32.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.02475463 -0.01413537 0.07577434
+v -0.02475463 0.00235031 0.07821091
+v -0.01615596 0.00235031 0.07874863
+v -0.01256993 -0.01413538 0.07909327
+v -0.02475463 -0.01413540 0.08460840
+v -0.02475463 0.00235029 0.08440952
+v -0.01085636 -0.01413538 0.07965463
+v -0.01324758 0.00235031 0.07996984
+v -0.02475463 -0.00902428 0.08463009
+v -0.01975495 -0.01413544 0.09589275
+v -0.02015538 -0.01254901 0.09589275
+v -0.02061417 -0.00894846 0.09589277
+v -0.02084762 -0.00534953 0.09589278
+v -0.02090436 -0.00175060 0.09589279
+v -0.02475463 0.00213887 0.08442528
+v -0.02085572 0.00184995 0.09589281
+v -0.02084275 0.00214206 0.09589281
+v -0.02083302 0.00235025 0.09589281
+v -0.01271584 0.00235031 0.08020030
+v -0.00950754 -0.01413539 0.08042084
+v -0.02475463 -0.00656796 0.08462812
+v -0.00985934 -0.01413544 0.09589275
+v -0.02475463 0.00185967 0.08444498
+v -0.02475463 -0.00263657 0.08461632
+v -0.01264450 0.00235025 0.09589281
+v -0.01128597 0.00235029 0.08321392
+v -0.00819440 -0.01413540 0.08324144
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 20
+f 1 20 27
+f 1 27 22
+f 1 22 10
+f 1 10 5
+f 1 5 9
+f 1 9 21
+f 1 21 24
+f 1 24 23
+f 1 23 15
+f 1 15 6
+f 1 6 2
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+f 2 18 25
+f 2 25 26
+f 2 26 19
+f 2 19 8
+f 2 8 3
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+f 3 8 7
+f 5 10 11
+f 5 11 12
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+f 10 17 16
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+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 14 16 23
+f 14 23 24
+f 14 24 21
+f 15 23 16
+f 19 26 20
+f 20 26 27
+f 22 27 25
+f 25 27 26
+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_33.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85f3c5518529c4cdd4bec56cd42e0f97662a4dea
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_33.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.01193011 0.03775563 -0.10423907
+v -0.01257261 0.03754571 -0.10423907
+v -0.01193011 0.03855091 -0.10211216
+v -0.01193011 0.02701728 -0.10423911
+v -0.01256966 0.03835914 -0.10205294
+v -0.01540000 0.03651224 -0.10423908
+v -0.01193011 0.03915644 -0.09829094
+v -0.01193011 0.02787305 -0.08743598
+v -0.02196549 0.01866074 -0.10423914
+v -0.01223760 0.03906561 -0.09810177
+v -0.01630186 0.03680289 -0.10203155
+v -0.01615548 0.03746293 -0.09834687
+v -0.01598257 0.03625993 -0.10423908
+v -0.01193011 0.03919479 -0.09779746
+v -0.02196549 0.01954478 -0.08743601
+v -0.01193011 0.03821780 -0.08743594
+v -0.02196549 0.03266702 -0.10423909
+v -0.01260601 0.03904339 -0.09464245
+v -0.01193011 0.03927955 -0.09542216
+v -0.01759472 0.03586229 -0.10325211
+v -0.01820578 0.03619936 -0.10078140
+v -0.01845040 0.03633863 -0.09834688
+v -0.01615548 0.03759008 -0.09464245
+v -0.01710744 0.03563622 -0.10423908
+v -0.02196549 0.03300607 -0.08743596
+v -0.01193011 0.03844387 -0.08815643
+v -0.01242721 0.03806440 -0.08743594
+v -0.02196549 0.03269124 -0.10417330
+v -0.02189574 0.03272354 -0.10423909
+v -0.01615548 0.03746693 -0.09093639
+v -0.01221402 0.03906155 -0.09129498
+v -0.01193011 0.03917660 -0.09158614
+v -0.01193011 0.03927552 -0.09464245
+v -0.01953696 0.03501249 -0.10203156
+v -0.02196549 0.03338357 -0.10204967
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+v -0.02035334 0.03532130 -0.09464246
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+v -0.01847988 0.03634465 -0.09093640
+v -0.02083866 0.03384979 -0.08743596
+v -0.02196549 0.03327452 -0.08781923
+v -0.01193011 0.03847415 -0.08828473
+v -0.01825196 0.03621345 -0.08874039
+v -0.01604840 0.03664338 -0.08743595
+v -0.02196549 0.03277602 -0.10393313
+v -0.01193011 0.03914228 -0.09113378
+v -0.02196549 0.03405168 -0.09834688
+v -0.02027279 0.03526880 -0.09093640
+v -0.02196549 0.03419499 -0.09464246
+v -0.01953204 0.03472582 -0.08743595
+v -0.02196549 0.03347234 -0.08846405
+v -0.02196549 0.03407184 -0.09093640
+f 1 2 3
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+f 1 14 19
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+f 1 32 46
+f 1 46 42
+f 1 42 26
+f 1 26 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
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+f 1 29 24
+f 1 24 13
+f 1 13 6
+f 1 6 2
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+f 18 33 19
+f 20 24 29
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+f 21 35 36
+f 21 36 22
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+f 23 39 30
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+f 28 45 29
+f 29 45 34
+f 30 39 43
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+f 30 46 31
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+f 34 45 35
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+f 39 48 43
+f 40 50 43
+f 40 43 41
+f 41 43 51
+f 42 46 43
+f 43 48 52
+f 43 52 51
+f 43 50 44
+f 48 49 52
+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_34.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5c743a975e4b225f729e5986c89d12470f693fe
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_34.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.00008359 -0.04107534 -0.09464249
+v 0.00177383 -0.04105945 -0.09464249
+v 0.00008359 -0.04099159 -0.09268388
+v 0.00008359 -0.04096991 -0.09834716
+v 0.00177383 -0.04095691 -0.09834716
+v 0.00536023 -0.04072875 -0.09464249
+v 0.00536023 -0.04057714 -0.09093618
+v 0.00177383 -0.04089918 -0.09093618
+v 0.00008359 -0.04090929 -0.09093618
+v 0.00008359 -0.04050779 -0.10205183
+v 0.00177383 -0.04049624 -0.10205183
+v 0.00536023 -0.04061899 -0.09834716
+v 0.00894418 -0.04006447 -0.09464249
+v 0.00927144 -0.03988398 -0.09084299
+v 0.01068467 -0.03953595 -0.08954489
+v 0.00829333 -0.03977712 -0.08853289
+v 0.00536023 -0.03999085 -0.08795904
+v 0.00225798 -0.04012371 -0.08758302
+v 0.00177383 -0.04015693 -0.08758302
+v 0.00008359 -0.04051072 -0.08913289
+v 0.00008359 -0.03993447 -0.10428346
+v 0.00177383 -0.03992581 -0.10428346
+v 0.00564214 -0.04002690 -0.10236573
+v 0.00463829 -0.03971064 -0.10428346
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+v 0.01260412 -0.03831854 -0.10197498
+v 0.01260412 -0.03748096 -0.10428345
+v 0.01260412 -0.03830555 -0.10205346
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+f 30 58 50
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+f 48 50 49
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+f 55 58 59
+f 55 59 57
+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_35.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..662eb1a25373d8a13d3edab57e1bc6aa2814a460
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_35.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.03523593 -0.01413805 0.07583017
+v -0.03521934 -0.01413804 0.07317790
+v -0.03446355 -0.01614928 0.07583016
+v -0.03500735 -0.01413806 0.07953385
+v -0.03521012 -0.01413803 0.07212252
+v -0.03443405 -0.01614926 0.07212251
+v -0.03300542 -0.01941236 0.07583015
+v -0.03423128 -0.01614929 0.07953384
+v -0.03299989 -0.01939532 0.07212250
+v -0.03327824 -0.01413814 0.10023420
+v -0.03473268 -0.01413802 0.06876667
+v -0.03397504 -0.01614925 0.06876666
+v -0.03211321 -0.02121088 0.07583014
+v -0.03288191 -0.01916455 0.07953383
+v -0.03269204 -0.01525597 0.10176388
+v -0.03209846 -0.02119384 0.07212249
+v -0.03383863 -0.01645769 0.06876666
+v -0.03274918 -0.01889330 0.06876665
+v -0.03186804 -0.02069288 0.06876664
+v -0.03313261 -0.01413814 0.10176389
+v -0.02533687 -0.01413802 0.06876667
+v -0.03079149 -0.02334868 0.07583013
+v -0.03055185 -0.02334869 0.07953381
+v -0.03198786 -0.02096414 0.07953382
+v -0.03076937 -0.02334866 0.07212248
+v -0.03203394 -0.01740014 0.09806019
+v -0.03181642 -0.01705661 0.10176388
+v -0.03250401 -0.01483373 0.10387859
+v -0.02925962 -0.02500252 0.06896031
+v -0.02943106 -0.02466749 0.06876663
+v -0.03288560 -0.01413815 0.10323430
+v -0.01662680 -0.02500252 0.06876663
+v -0.01640375 -0.01413806 0.07851405
+v -0.02969282 -0.02500255 0.07583013
+v -0.02953982 -0.02500256 0.07850611
+v -0.02947346 -0.02500256 0.07953381
+v -0.02967623 -0.02500253 0.07212248
+v -0.02840060 -0.02466334 0.09435253
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+v -0.02930387 -0.02259042 0.09806017
+v -0.02911768 -0.02227987 0.10176386
+v -0.03084126 -0.01974853 0.09806018
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+v -0.02891307 -0.02192464 0.10385090
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+v -0.02921169 -0.02500257 0.08251811
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+v -0.02772591 -0.02500263 0.09901277
+v -0.02743281 -0.02500264 0.10176385
+v -0.02804851 -0.02408051 0.10176385
+v -0.02626041 -0.02500265 0.10430545
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+v -0.02704939 -0.02500265 0.10284690
+v -0.03054816 -0.01413816 0.10488654
+v -0.03060899 -0.01608025 0.10448730
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+v -0.02691113 -0.01974856 0.10511182
+v -0.02344185 -0.02500266 0.10504065
+v -0.01996151 -0.02500265 0.10464143
+v -0.01860845 -0.02500265 0.10223028
+v -0.01846283 -0.02500264 0.10176385
+v -0.01640375 -0.01506242 0.10784710
+v -0.01640375 -0.02031542 0.09831316
+v -0.01640375 -0.01905934 0.10140813
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+f 33 60 48
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+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_36.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..485f69bc9bf561fc4cd2c5535cfedb4901a333b4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_36.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.03657820 0.00235023 0.09991196
+v 0.03654381 0.00364839 0.09991196
+v 0.02896477 0.00235023 0.09991196
+v 0.03732579 0.00235029 0.08375415
+v 0.03652853 0.00389899 0.09991196
+v 0.03748753 0.00235031 0.08004757
+v 0.02584069 0.01723471 0.09991201
+v 0.02464481 0.00235029 0.08462787
+v 0.03631457 0.00728210 0.09991198
+v 0.03750791 0.00235031 0.07953318
+v 0.03423228 0.01723471 0.09991201
+v 0.02464481 0.01723476 0.08615879
+v 0.02464481 0.00235031 0.07820413
+v 0.03613372 0.00869536 0.09991198
+v 0.03726466 0.00545221 0.07953319
+v 0.03763527 0.00235032 0.07582660
+v 0.03499387 0.01462381 0.09991200
+v 0.03614646 0.01183087 0.07582663
+v 0.03556826 0.01363024 0.07582664
+v 0.03556571 0.01363608 0.07476832
+v 0.03482831 0.01550829 0.07476833
+v 0.03453539 0.01624989 0.07582665
+v 0.03409473 0.01723480 0.07582665
+v 0.02464481 0.01723481 0.07476833
+v 0.02464481 0.01444324 0.07476832
+v 0.02839549 0.00235033 0.07476828
+v 0.03738819 0.00545222 0.07582661
+v 0.03671957 0.00905095 0.07953320
+v 0.03765437 0.00235033 0.07476828
+v 0.03683037 0.00905096 0.07582662
+v 0.03615028 0.01183671 0.07476831
+v 0.03573764 0.01312176 0.07476832
+v 0.03452775 0.01624990 0.07476833
+v 0.03408964 0.01723480 0.07507598
+v 0.03408709 0.01723481 0.07476833
+v 0.03748881 0.00442361 0.07476829
+v 0.03747734 0.00456639 0.07476829
+v 0.03740220 0.00545223 0.07476829
+v 0.03700357 0.00802380 0.07476830
+v 0.03683292 0.00905097 0.07476830
+f 1 2 5
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+f 1 14 17
+f 1 17 11
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+f 1 3 8
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+f 30 38 39
+f 30 39 40
+f 30 40 31
+f 33 35 34
+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_37.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96c14719cbf8a2ac0e6004055bc1890e8dd0d3db
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_37.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00833159 -0.01388478 0.08323178
+v 0.01191703 0.00234870 0.08324021
+v 0.00855427 -0.01388477 0.08229521
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+v 0.01998670 -0.01388483 0.09672088
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+v 0.01253182 -0.01388476 0.07915864
+v 0.01999799 -0.01384986 0.09672088
+v 0.02481623 -0.01388478 0.08460206
+v 0.02130986 0.00205939 0.09672094
+v 0.02481623 0.00234870 0.08459164
+v 0.01920410 0.00234872 0.07853642
+v 0.02481623 -0.01388475 0.07531808
+v 0.02035783 -0.01254819 0.09672088
+v 0.02481623 -0.01062187 0.08461254
+v 0.02132438 0.00054793 0.09672093
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+v 0.02124370 -0.00535009 0.09672091
+v 0.02121304 -0.00665017 0.09672091
+v 0.02101941 -0.00894835 0.09672090
+v 0.02083384 -0.01025002 0.09672089
+v 0.02481623 0.00191481 0.08459373
+v 0.02481623 0.00234872 0.07816975
+v 0.01970109 0.00234872 0.07848404
+v 0.02481623 -0.00535958 0.08461885
+f 1 2 3
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+f 1 4 5
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+f 15 21 16
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+f 17 29 18
+f 18 29 28
+f 20 30 21
+f 21 30 27
+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_38.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f5251433cf6c8fa2dcbc7a2420c4be0f67afdfc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_38.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.01229705 0.02678939 -0.10424392
+v -0.00017143 0.03007271 -0.10424391
+v 0.01229705 0.03764896 -0.10424388
+v 0.01229705 0.02756692 -0.08743762
+v 0.00674208 0.02870590 -0.08873736
+v -0.00017143 0.04003095 -0.10424387
+v -0.00017143 0.03093742 -0.08743761
+v 0.00744270 0.03929976 -0.10424388
+v 0.00701183 0.03962739 -0.10380788
+v 0.01229705 0.03769958 -0.10410897
+v 0.01229705 0.03804965 -0.08743758
+v 0.01180637 0.02769206 -0.08743762
+v 0.01094706 0.02791705 -0.08743762
+v 0.00177421 0.04003235 -0.10424387
+v -0.00017143 0.04060042 -0.10205238
+v 0.00177421 0.04060464 -0.10205238
+v -0.00017143 0.04015182 -0.08743757
+v 0.00667861 0.03946849 -0.10424388
+v 0.00463775 0.03981862 -0.10424387
+v 0.00563499 0.04014625 -0.10236498
+v 0.00814211 0.03990157 -0.10133670
+v 0.00917963 0.03939819 -0.10236499
+v 0.01229705 0.03846169 -0.10207378
+v 0.00801273 0.03985373 -0.08860076
+v 0.00899653 0.03911409 -0.08743758
+v 0.01229705 0.03871476 -0.09004696
+v 0.01040267 0.03956687 -0.09008643
+v 0.00458527 0.03982284 -0.10424387
+v -0.00017143 0.04085774 -0.10004024
+v 0.00177421 0.04107287 -0.09834562
+v 0.00536035 0.04074243 -0.09834562
+v 0.00177421 0.04014900 -0.08743757
+v -0.00017143 0.04021228 -0.08759716
+v 0.00917963 0.04000562 -0.09822387
+v 0.01053206 0.03959644 -0.09937720
+v 0.01229705 0.03853340 -0.10173815
+v 0.00536035 0.04005339 -0.08805290
+v 0.00536035 0.03981153 -0.08743757
+v 0.00672621 0.03959639 -0.08743757
+v 0.00910273 0.03996622 -0.09116737
+v 0.00536035 0.04062991 -0.09093703
+v 0.01229705 0.03899177 -0.09116244
+v 0.01220306 0.03902973 -0.09116738
+v 0.01078960 0.03966812 -0.09255761
+v -0.00017143 0.04107147 -0.09834562
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+v 0.00440218 0.03991137 -0.08743757
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+v 0.00177421 0.04095051 -0.09093703
+v -0.00017143 0.04054976 -0.08912231
+v 0.01081646 0.03967658 -0.09690603
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+v 0.01229705 0.03915349 -0.09426539
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+v 0.01083599 0.03968360 -0.09464215
+v -0.00017143 0.04115161 -0.09464215
+v -0.00017143 0.04094770 -0.09093703
+v 0.01229705 0.03907616 -0.09754604
+f 1 2 6
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+f 32 49 50
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+f 35 55 36
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+f 37 41 51
+f 37 51 50
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+f 46 61 51
+f 48 59 53
+f 51 61 52
+f 53 62 54
+f 53 59 58
+f 53 58 62
+f 54 62 55
+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_39.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2644b71dfa5987404617fddd353d7dc0a75d06df
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_39.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00977895 0.01562912 0.09991201
+v 0.01014708 0.01283027 0.09991200
+v 0.01076837 0.01626436 0.09991201
+v 0.01059086 0.01723478 0.08174585
+v 0.01058504 0.01723478 0.08099764
+v 0.01191785 0.00235029 0.08323975
+v 0.01175634 0.00235023 0.09991196
+v 0.01253187 0.01717206 0.09991201
+v 0.01236309 0.01723477 0.08324965
+v 0.01209827 0.00235030 0.08283365
+v 0.01163848 0.01723479 0.08026666
+v 0.01323028 0.00235030 0.08035522
+v 0.02140755 0.00235023 0.09991196
+v 0.01323756 0.01713272 0.09991201
+v 0.02464354 0.01723476 0.08615879
+v 0.01611706 0.01723477 0.08487404
+v 0.01589153 0.01723477 0.08478790
+v 0.01236163 0.01723479 0.07985564
+v 0.01611706 0.00235031 0.07888588
+v 0.02141628 0.00493928 0.09991197
+v 0.02464354 0.00235029 0.08462787
+v 0.01611706 0.01677868 0.09991201
+v 0.02464354 0.01723481 0.07476833
+v 0.01890635 0.01542369 0.09991201
+v 0.01965133 0.01436301 0.09991200
+v 0.02044578 0.01264960 0.09991200
+v 0.02082117 0.01160786 0.09991199
+v 0.02131879 0.00905087 0.09991198
+v 0.02134353 0.00863271 0.09991198
+v 0.02141046 0.00545213 0.09991197
+v 0.02274618 0.01723481 0.07476833
+v 0.01920464 0.00235031 0.07853639
+v 0.02285239 0.01695653 0.07476833
+v 0.02339803 0.01606632 0.07476833
+v 0.02464354 0.01444324 0.07476832
+v 0.02464354 0.00235031 0.07820413
+v 0.01970226 0.00235031 0.07848470
+f 1 2 7
+f 1 7 13
+f 1 13 20
+f 1 20 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 22
+f 1 22 14
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+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
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+f 4 11 5
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+f 8 17 9
+f 11 18 12
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+f 15 25 26
+f 15 26 27
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+f 15 28 29
+f 15 29 30
+f 15 30 20
+f 15 21 36
+f 15 36 35
+f 15 35 23
+f 18 31 19
+f 19 31 33
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+f 19 34 35
+f 19 35 32
+f 23 35 34
+f 23 34 33
+f 23 33 31
+f 32 35 37
+f 35 36 37
+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_4.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3d42cc8c270b473a4a5d30b9e162fc83709898b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_4.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.00537568 0.03978995 -0.00303455
+v -0.00537568 0.03192284 -0.00303458
+v -0.00537568 0.03979175 -0.00116106
+v -0.00496857 0.03984982 -0.00303455
+v 0.01938067 0.02466354 -0.00303461
+v 0.01938067 0.02160423 0.07476835
+v -0.00537568 0.02959292 0.06840919
+v -0.00497099 0.03984982 -0.00199119
+v -0.00537568 0.03979355 0.00541898
+v -0.00497826 0.03984980 0.00171771
+v -0.00408406 0.03992966 -0.00303455
+v 0.01938067 0.03456456 -0.00303457
+v 0.01938067 0.03466407 0.07476840
+v -0.00537568 0.03001746 0.07476838
+v -0.00537568 0.02968726 0.07214093
+v -0.00537568 0.02968545 0.07211808
+v -0.00498311 0.03984979 0.00541898
+v -0.00537568 0.03977522 0.05358889
+v -0.00181102 0.04013468 -0.00303455
+v 0.01806240 0.03539735 -0.00303457
+v 0.01938067 0.03471313 0.05358887
+v 0.01938067 0.03471493 0.05729015
+v 0.01752685 0.03585980 0.05729015
+v 0.01740569 0.03580168 0.07476840
+v -0.00537568 0.03962456 0.07476842
+v -0.00181102 0.04013466 0.00171771
+v -0.00492979 0.03983872 0.05358889
+v -0.00181102 0.04012903 0.05358889
+v -0.00537568 0.03977341 0.05452564
+v 0.00177546 0.04013286 -0.00303455
+v 0.00177546 0.04013991 0.05358889
+v 0.00177546 0.04013646 0.00541898
+v 0.01742265 0.03580015 -0.00303457
+v 0.01752443 0.03585801 0.04987998
+v 0.01753170 0.03586163 0.05358887
+v 0.01573362 0.03669985 0.05729015
+v 0.01561245 0.03662722 0.07476840
+v -0.00441606 0.03975701 0.07476842
+v -0.00489829 0.03982783 0.05729017
+v -0.00537568 0.03976070 0.05729017
+v -0.00181102 0.04000558 0.07476842
+v 0.00177546 0.04011994 0.05729017
+v 0.00504205 0.03984982 -0.00199119
+v 0.00504448 0.03984801 -0.00303455
+v 0.00503963 0.03985162 0.00171771
+v 0.00493301 0.03984235 0.05729017
+v 0.00495239 0.03984961 0.05358889
+v 0.00503478 0.03985342 0.00541898
+v 0.01562942 0.03666741 -0.00303457
+v 0.01573119 0.03670351 0.04987998
+v 0.01573846 0.03670168 0.05358887
+v 0.01253003 0.03798987 0.05729016
+v 0.01253003 0.03800077 0.05358888
+v 0.01338302 0.03748723 0.07476841
+v 0.00177546 0.04000558 0.07476842
+v 0.00243217 0.03994933 0.07476842
+v 0.00683771 0.03960670 -0.00303455
+v 0.00554610 0.03978088 -0.00303455
+v 0.00434172 0.03975882 0.07476842
+v 0.00672382 0.03958833 0.05729017
+v 0.00674563 0.03958834 0.05358889
+v 0.00683529 0.03960670 -0.00199119
+v 0.01339756 0.03759637 -0.00303456
+v 0.01253003 0.03799897 0.04987999
+v 0.01253003 0.03795743 -0.00303456
+v 0.00894355 0.03907850 0.05729016
+v 0.01253003 0.03780656 0.07476841
+v 0.00894355 0.03908576 0.05358888
+v 0.00894355 0.03909504 -0.00303456
+v 0.00894355 0.03909504 -0.00199120
+v 0.00613496 0.03949574 0.07476842
+v 0.00894355 0.03887522 0.07476841
+v 0.00683287 0.03960486 0.00171771
+v 0.00994922 0.03877753 -0.00303456
+f 1 2 7
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+f 1 40 29
+f 1 29 18
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+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_40.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2e193db9a6afe93fcb5263af0b1c1630c29c304
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_40.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.02200015 -0.01783117 -0.10428153
+v -0.02200392 -0.01838638 -0.10428153
+v -0.02200392 -0.01782909 -0.10427825
+v -0.02200392 -0.01935074 -0.08758456
+v -0.01238737 -0.02759951 -0.08758459
+v -0.01238737 -0.02638677 -0.10428156
+v -0.02200392 -0.03261509 -0.10428158
+v -0.02200392 -0.03302425 -0.08758461
+v -0.01238737 -0.03808998 -0.08758463
+v -0.01238737 -0.03761194 -0.10428160
+v -0.02195967 -0.03266310 -0.10428158
+v -0.02200392 -0.03269858 -0.10408379
+v -0.02200392 -0.03399480 -0.09093708
+v -0.01824203 -0.03610709 -0.08875986
+v -0.01938584 -0.03481510 -0.08758462
+v -0.01254459 -0.03803988 -0.08758463
+v -0.01238737 -0.03872866 -0.08978310
+v -0.01238737 -0.03844893 -0.10205206
+v -0.01257000 -0.03839049 -0.10205206
+v -0.01261237 -0.03753889 -0.10428160
+v -0.02176292 -0.03279668 -0.10428158
+v -0.01957883 -0.03499037 -0.10213378
+v -0.02200392 -0.03336233 -0.10206512
+v -0.02200392 -0.03418264 -0.09464262
+v -0.02047506 -0.03527844 -0.09464262
+v -0.02032443 -0.03518244 -0.09093709
+v -0.01627070 -0.03650785 -0.08758462
+v -0.01767341 -0.03581906 -0.08758462
+v -0.01853198 -0.03627616 -0.09093709
+v -0.01615585 -0.03745545 -0.09093710
+v -0.01238737 -0.03900836 -0.09077364
+v -0.01238737 -0.03849485 -0.10183303
+v -0.01615585 -0.03748881 -0.09834653
+v -0.01636296 -0.03678748 -0.10213379
+v -0.01477197 -0.03678748 -0.10428160
+v -0.01238737 -0.03900415 -0.09842989
+v -0.01845573 -0.03489853 -0.10428159
+v -0.01769506 -0.03581483 -0.10342181
+v -0.01827592 -0.03613836 -0.10095200
+v -0.02200392 -0.03352514 -0.10123803
+v -0.02200392 -0.03410331 -0.09696368
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+v -0.02035739 -0.03520329 -0.09834652
+v -0.01856493 -0.03630117 -0.09834652
+v -0.01868261 -0.03636798 -0.09464262
+v -0.01615585 -0.03761615 -0.09464263
+v -0.01281760 -0.03899790 -0.09464263
+v -0.01238737 -0.03903130 -0.09131468
+v -0.01551851 -0.03647648 -0.10428159
+v -0.01238737 -0.03903128 -0.09780876
+v -0.01724036 -0.03562072 -0.10428159
+v -0.01238737 -0.03915026 -0.09464263
+v -0.01238737 -0.03913774 -0.09400843
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 20
+f 1 20 35
+f 1 35 49
+f 1 49 51
+f 1 51 37
+f 1 37 21
+f 1 21 11
+f 1 11 7
+f 1 7 2
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+f 2 23 40
+f 2 40 42
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+f 4 16 9
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+f 21 38 22
+f 22 38 39
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+f 39 43 40
+f 39 44 43
+f 40 43 42
+f 44 46 45
+f 47 50 52
+f 47 52 53
+f 47 53 48
+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_41.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32838448f60e033050f46c33af9a54f9cdd960ac
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_41.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.02175886 0.00235021 0.10547181
+v -0.02172704 0.00235020 0.10844906
+v -0.02162098 0.00235022 0.10319101
+v -0.02155098 -0.00016742 0.10348642
+v -0.02155947 -0.00019648 0.10547180
+v -0.02154886 -0.00006093 0.10758921
+v -0.02166765 0.00181116 0.10896562
+v -0.02171007 0.00235020 0.10899698
+v -0.02090402 -0.00175060 0.09589641
+v -0.02084887 -0.00534953 0.09589640
+v -0.02083402 0.00235025 0.09589643
+v -0.02085524 0.00184995 0.09589643
+v -0.02061554 -0.00894846 0.09589639
+v -0.02136008 -0.00199595 0.10547179
+v -0.02142796 0.00058623 0.11005980
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_42.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbcb455ab5101e909dd9b3d413102c81b3c731b5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_42.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_43.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe721225965ef98b91acd088d08c403486be8016
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_43.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_44.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0b9bf168dd3c48c3f0a32e7e14ca936f664decd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_44.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v 0.00177235 0.04004210 0.07582756
+v 0.00242883 0.03994909 0.07476842
+v 0.00177235 0.04000529 0.07476842
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_45.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78ac000b17f70212efd817f573bb6e125d89a477
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_45.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_46.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c429072576798b52356b1c7102f2733b6c79f923
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_46.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_47.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b885dc32f1f37192ef066e2219ca4bfd1bf054b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_47.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_48.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9eaa71b0f9749722d06289ea1117da7b114a4af
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_48.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_49.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbd3f022576058a31236c72a09c4ea6cfa2c8eb1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_49.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_5.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9973e6670ea40168382ff12638ce61843db8d84
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_5.obj
@@ -0,0 +1,877 @@
+# https://github.com/mikedh/trimesh
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+f 287 292 289
+f 287 289 288
+f 289 292 293
+f 289 293 291
+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_50.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..230dd93af901927abd1c9882ac714be66a71e15b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_50.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.03408298 0.00235021 0.10641428
+v -0.03578767 0.00235021 0.10510318
+v -0.03050707 0.00235021 0.10605346
+v -0.03178082 0.00637342 0.10745687
+v -0.03408298 0.00428913 0.10700166
+v -0.03603937 0.00658185 0.10747156
+v -0.03623132 0.00235022 0.10475286
+v -0.02830534 0.00235022 0.10435219
+v -0.02511461 0.01258602 0.10848481
+v -0.03408298 0.00608968 0.10753449
+v -0.03408298 0.01264907 0.10876590
+v -0.03408298 0.01624843 0.10939734
+v -0.03408298 0.01708565 0.10953578
+v -0.03630632 0.00905322 0.10772540
+v -0.03657074 0.00235023 0.10176776
+v -0.03662540 0.01264907 0.10808203
+v -0.03694828 0.01264908 0.10547033
+v -0.02830534 0.00235022 0.10233415
+v -0.02511461 0.01191345 0.10547032
+v -0.02511461 0.01209736 0.10674995
+v -0.02511461 0.01624843 0.10894632
+v -0.02416247 0.02024365 0.09991131
+v -0.02511461 0.01708565 0.10897359
+v -0.03319568 0.02024365 0.09991131
+v -0.03616013 0.01708565 0.10875542
+v -0.03714913 0.00235028 0.08810719
+v -0.03678811 0.01624843 0.10838202
+v -0.03700549 0.01624844 0.10547034
+v -0.02511461 0.01270689 0.10232370
+v -0.02511461 0.01221122 0.10414664
+v -0.02985749 0.00235028 0.08810719
+v -0.02496206 0.02024370 0.08810725
+v -0.03255118 0.02024370 0.08810725
+v -0.03691778 0.01708566 0.10540741
+v -0.03678557 0.01708565 0.10844076
+v -0.03694574 0.00545220 0.08810720
+v -0.03294271 0.01942574 0.08810725
+v -0.03432197 0.01625026 0.08810724
+v -0.03546097 0.01292064 0.08810723
+v -0.03594784 0.01112534 0.08810722
+v -0.03638895 0.00905330 0.08810721
+f 1 2 7
+f 1 7 15
+f 1 15 26
+f 1 26 31
+f 1 31 18
+f 1 18 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
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+f 26 37 33
+f 26 33 32
+f 26 32 31
+f 26 28 36
+f 27 35 28
+f 28 35 34
+f 28 34 36
+f 29 31 32
+f 33 37 34
+f 34 37 38
+f 34 38 39
+f 34 39 40
+f 34 40 41
+f 34 41 36
+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_51.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..127f7aa12065a90de5fcb76f5ede2c5dfab1a4ec
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_51.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.00181220 -0.04109572 -0.09464264
+v 0.00008237 -0.04107555 -0.09464264
+v 0.00008237 -0.04099205 -0.09268281
+v 0.00008237 -0.04090998 -0.09093711
+v -0.00181220 -0.04092150 -0.09093711
+v -0.00539870 -0.04063639 -0.09093711
+v -0.00539870 -0.04078036 -0.09464264
+v -0.00181220 -0.04098483 -0.09834654
+v 0.00008237 -0.04097043 -0.09834654
+v 0.00008237 -0.04051687 -0.08916362
+v 0.00008237 -0.04015834 -0.08758464
+v -0.00181220 -0.04015977 -0.08758464
+v -0.00539870 -0.04001578 -0.08796712
+v -0.00828816 -0.03980266 -0.08852614
+v -0.01067835 -0.03952330 -0.08942351
+v -0.00928306 -0.03993801 -0.09077039
+v -0.00898276 -0.04012519 -0.09464264
+v -0.00539870 -0.04065652 -0.09834654
+v -0.00181220 -0.04051972 -0.10205207
+v 0.00008237 -0.04050819 -0.10205207
+v 0.00008237 -0.03098872 -0.08758460
+v -0.00218819 -0.04013530 -0.08758464
+v -0.00479566 -0.03991786 -0.08758464
+v -0.00539870 -0.03985306 -0.08758464
+v -0.00715899 -0.03957947 -0.08758464
+v -0.00903281 -0.03918925 -0.08758463
+v -0.00948814 -0.03906253 -0.08758463
+v -0.01238737 -0.03809056 -0.08758463
+v -0.01238737 -0.03872845 -0.08978310
+v -0.01238737 -0.03900780 -0.09077364
+v -0.01231657 -0.03903660 -0.09077038
+v -0.01095301 -0.03960681 -0.09189496
+v -0.01102382 -0.03963128 -0.09464264
+v -0.01092982 -0.03959959 -0.09725303
+v -0.00925742 -0.03991926 -0.09843154
+v -0.01063562 -0.03951319 -0.09972447
+v -0.00798664 -0.03973350 -0.10205207
+v -0.00539870 -0.04018276 -0.10205207
+v -0.00539870 -0.03968453 -0.10421949
+v -0.00181220 -0.03994660 -0.10428161
+v -0.00133246 -0.03994372 -0.10428161
+v 0.00008237 -0.03993508 -0.10428161
+v -0.01238737 -0.02760050 -0.08758459
+v 0.00008237 -0.02988133 -0.10428157
+v -0.01238737 -0.02638657 -0.10428156
+v -0.01238737 -0.03903227 -0.09131468
+v -0.01238737 -0.03913882 -0.09400843
+v -0.01238737 -0.03914890 -0.09464263
+v -0.01238737 -0.03903081 -0.09780876
+v -0.01230192 -0.03903801 -0.09843153
+v -0.01238737 -0.03883209 -0.09958062
+v -0.01238737 -0.03849514 -0.10183303
+v -0.00977989 -0.03928279 -0.10205206
+v -0.00719683 -0.03954917 -0.10390892
+v -0.00539870 -0.03965429 -0.10428161
+v -0.00485670 -0.03971045 -0.10428161
+v -0.01238737 -0.03761100 -0.10428160
+v -0.01238737 -0.03900345 -0.09842989
+v -0.01238737 -0.03844762 -0.10205206
+v -0.00755573 -0.03926838 -0.10428160
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 20
+f 2 20 42
+f 2 42 44
+f 2 44 21
+f 2 21 11
+f 2 11 10
+f 2 10 4
+f 2 4 3
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
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+f 19 41 20
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+f 28 57 59
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+f 28 52 51
+f 28 51 58
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+f 28 48 47
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+f 31 46 32
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+f 32 47 33
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+f 33 47 48
+f 34 48 49
+f 34 49 50
+f 34 50 36
+f 34 36 35
+f 36 50 51
+f 36 51 52
+f 36 52 53
+f 36 53 37
+f 37 53 54
+f 37 54 38
+f 38 54 39
+f 39 54 55
+f 39 55 56
+f 39 56 40
+f 40 56 55
+f 40 55 60
+f 40 60 57
+f 40 57 45
+f 40 45 44
+f 40 44 42
+f 40 42 41
+f 49 58 50
+f 50 58 51
+f 52 59 53
+f 53 59 54
+f 54 57 60
+f 54 60 55
+f 54 59 57
+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_52.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..932bf1cdb0319c6208e712b607bd378c5a9da874
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_52.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.01193011 0.02701605 -0.10423911
+v -0.01193011 0.03775628 -0.10423907
+v -0.00017265 0.03007540 -0.10423910
+v -0.01193011 0.02787388 -0.08743598
+v -0.00907015 0.03870687 -0.10423907
+v -0.01193011 0.03855190 -0.10211216
+v -0.00707106 0.03963118 -0.10382125
+v -0.00017265 0.04003107 -0.10423906
+v -0.00017265 0.03093738 -0.08743597
+v -0.01193011 0.03821837 -0.08743594
+v -0.00674536 0.03947621 -0.10423906
+v -0.01193011 0.03915655 -0.09829094
+v -0.01050186 0.03957581 -0.09917263
+v -0.00917719 0.03938350 -0.10237206
+v -0.00811146 0.03989269 -0.10135054
+v -0.00568540 0.04013485 -0.10237205
+v -0.00469909 0.03981660 -0.10423906
+v -0.00485446 0.03979722 -0.10423906
+v -0.00017265 0.04060114 -0.10205293
+v -0.00039017 0.04003107 -0.10423906
+v -0.00017265 0.04015139 -0.08743593
+v -0.00904253 0.03911500 -0.08743594
+v -0.00806313 0.03985391 -0.08860220
+v -0.01193011 0.03844391 -0.08815643
+v -0.01193011 0.03919530 -0.09779746
+v -0.01082065 0.03966576 -0.09670191
+v -0.00917719 0.03998954 -0.09810176
+v -0.00539883 0.04072981 -0.09834686
+v -0.00181266 0.04059837 -0.10205293
+v -0.00181266 0.04002969 -0.10423906
+v -0.00181266 0.04107159 -0.09834686
+v -0.00017265 0.04085712 -0.10004116
+v -0.00017265 0.04021227 -0.08759714
+v -0.00181266 0.04015416 -0.08743593
+v -0.00539883 0.03981792 -0.08743593
+v -0.01045352 0.03957025 -0.09029814
+v -0.00539883 0.04005730 -0.08804292
+v -0.00539883 0.04061356 -0.09093638
+v -0.00914841 0.03994663 -0.09129497
+v -0.01193011 0.03914269 -0.09113378
+v -0.01193011 0.03927831 -0.09542216
+v -0.01193011 0.03927693 -0.09464245
+v -0.01081260 0.03966298 -0.09464244
+v -0.00898269 0.04011129 -0.09464244
+v -0.00539883 0.04080037 -0.09464244
+v -0.00181266 0.04114906 -0.09464244
+v -0.00017265 0.04107159 -0.09834686
+v -0.00017265 0.04115183 -0.09464244
+v -0.00181266 0.04021366 -0.08759384
+v -0.00017265 0.04054990 -0.08912200
+v -0.01078037 0.03965190 -0.09276885
+v -0.00181266 0.04094564 -0.09093638
+v -0.01193011 0.03917729 -0.09158614
+v -0.00017265 0.04104113 -0.09263067
+v -0.00017265 0.04094702 -0.09093638
+f 1 2 5
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+f 1 11 18
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+f 1 17 30
+f 1 30 20
+f 1 20 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 24
+f 1 24 40
+f 1 40 53
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+f 1 42 41
+f 1 41 25
+f 1 25 12
+f 1 12 6
+f 1 6 2
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+f 21 33 34
+f 22 35 23
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+f 23 39 36
+f 24 36 40
+f 25 41 26
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+f 31 46 48
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+f 33 49 34
+f 33 50 49
+f 34 49 37
+f 34 37 35
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+f 36 51 40
+f 37 49 52
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+f 40 51 53
+f 42 53 51
+f 42 51 43
+f 43 51 44
+f 46 52 48
+f 48 52 54
+f 49 50 52
+f 50 55 52
+f 52 55 54
+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_53.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a8348350f7099a937f1f0b6e2342e94a8084f3c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_53.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.01196361 0.00235023 0.09991196
+v -0.00937759 0.01457752 0.09991200
+v -0.02118121 0.00235023 0.09991196
+v -0.01128598 0.00235029 0.08321268
+v -0.00939496 0.01617489 0.09991201
+v -0.00819752 0.02024372 0.08232178
+v -0.02116818 0.00545215 0.09991197
+v -0.02298969 0.02024371 0.08462301
+v -0.02298969 0.00235029 0.08465987
+v -0.01271510 0.00235031 0.08020016
+v -0.01074445 0.00690948 0.08132987
+v -0.00819752 0.02024373 0.08024206
+v -0.00961795 0.01819088 0.09991202
+v -0.00854068 0.02024372 0.08252114
+v -0.01024635 0.01851666 0.09991202
+v -0.02100746 0.00905150 0.09991198
+v -0.02016476 0.01264910 0.09991200
+v -0.01888043 0.01538321 0.09991201
+v -0.01786108 0.01604528 0.09991201
+v -0.01615396 0.01674413 0.09991201
+v -0.01137864 0.01846236 0.09991202
+v -0.01615396 0.02024371 0.08429813
+v -0.02298969 0.02024375 0.07476834
+v -0.02298969 0.00235031 0.07848470
+v -0.01324794 0.00235031 0.07997127
+v -0.01257030 0.01264918 0.07901636
+v -0.00889398 0.02024373 0.07983843
+v -0.01217791 0.02024371 0.08396341
+v -0.01257030 0.02024371 0.08402002
+v -0.01576301 0.02024371 0.08427844
+v -0.02105379 0.02024375 0.07476834
+v -0.02298969 0.01748512 0.07476833
+v -0.02023715 0.00235031 0.07852654
+v -0.01615396 0.00235031 0.07874805
+v -0.02106103 0.02023324 0.07476834
+v -0.01974051 0.00235031 0.07853639
+f 1 2 5
+f 1 5 13
+f 1 13 15
+f 1 15 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 7
+f 1 7 3
+f 1 3 9
+f 1 9 24
+f 1 24 33
+f 1 33 36
+f 1 36 34
+f 1 34 25
+f 1 25 10
+f 1 10 4
+f 1 4 2
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+f 23 35 32
+f 24 32 33
+f 25 34 26
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+f 26 31 27
+f 31 34 35
+f 32 36 33
+f 32 35 34
+f 32 34 36
+
diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_54.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc2abcf90b061545da681b6fadf43ef097d1a58d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_54.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.00008881 -0.02686237 0.07768022
+v -0.00008881 -0.01974944 0.07896756
+v 0.01353993 -0.02686234 0.07129645
+v -0.00008881 -0.02686239 0.08575334
+v -0.00008881 -0.01707193 0.08038483
+v 0.01628940 -0.02543722 0.07129646
+v 0.01628940 -0.02686234 0.07129645
+v 0.01260526 -0.02686240 0.08640715
+v -0.00008881 -0.02386358 0.09805795
+v -0.00008881 -0.01595547 0.08323966
+v 0.00950469 -0.01388635 0.08050667
+v 0.01252992 -0.01388634 0.07915845
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_55.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33f9310db4b610926107e7db4ff22eab01d0ca51
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_55.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_56.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..096610f5648a290495546f8aca9159ab5ee410fb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_56.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_6.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f751757c2e7f14db9d594bbe4e8f8402b2ac8f7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_6.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_7.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ee54f3ef071c38d8c29b82cd53bf57db4ec7015
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_7.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_8.obj b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..242067368aa04c60b5e880fbba466684000f4395
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/mjcf/mesh/thermos_collision_8.obj
@@ -0,0 +1,910 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/textures/material_0.png b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/textures/material_0.png
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diff --git a/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/video.mp4 b/dataset/desktop_supplies/decorations/9abf9070da3c50cf82b73d1f226bb668/video.mp4
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