diff --git a/.gitattributes b/.gitattributes
index 7749f1c5958ec6e835c64e3fe9624e35f211a576..fdb22be5cbd5ef448f28dc38009c5b12cd536030 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2914,3 +2914,6 @@ dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mesh/teacu
 dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mesh/teacup_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/861b0c30994e50aeac4e5066a57f7275/mesh/mini_sculpture_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/861b0c30994e50aeac4e5066a57f7275/mini_sculpture_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/90bc497d7c25580caf71f5564d8e8439.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mesh/small_saucer.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mesh/small_saucer_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/90bc497d7c25580caf71f5564d8e8439.urdf b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/90bc497d7c25580caf71f5564d8e8439.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d73c405527d0e760978809fbcb0f6787b35e5875
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/90bc497d7c25580caf71f5564d8e8439.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="small_saucer">
+   <link name="small_saucer">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/small_saucer.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/small_saucer_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.136910</scale>
+         <version>v0.1.7</version>
+         <category>small saucer</category>
+         <description>black saucer with a shallow bowl and raised base</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120011235</generate_time>
+         <gs_model>mesh/small_saucer_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.585165023803711</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/90bc497d7c25580caf71f5564d8e8439.usd b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/90bc497d7c25580caf71f5564d8e8439.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6cdbbe1dd87429d21c1caf075c724b5f7fb4858c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/90bc497d7c25580caf71f5564d8e8439.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ce9f978d0fa113b598253d4c654e9ae1d1aebcc23ca7bb33bc72733c82781cd
+size 568452
diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mesh/material.mtl b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/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/90bc497d7c25580caf71f5564d8e8439/mesh/material_0.png b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..697b9e41a043443b5fe9ee40f8904ee84895f0c2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16e61d1d3dd951fa138e9ae388c517c491379482360d60a091b80ca354c0e24f
+size 742708
diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mesh/small_saucer.glb b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mesh/small_saucer.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8cc0734025deb665b893a64c0d0901470fc6286b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mesh/small_saucer.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddff44acf2b61f3ec2695bd6136f5a89c78588380b515a9d0a55973ff53b4967
+size 1120628
diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mesh/small_saucer.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mesh/small_saucer.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6ca5fd991c9447f2bfa819ae6c0bb40e83bedd8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mesh/small_saucer.obj
@@ -0,0 +1,34404 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mesh/small_saucer_collision.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mesh/small_saucer_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e45574bfd26a72ddcfb14d9c7f8266a615add46
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mesh/small_saucer_collision.obj
@@ -0,0 +1,23027 @@
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mesh/small_saucer_gs.ply b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mesh/small_saucer_gs.ply
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index 0000000000000000000000000000000000000000..f52ccecba860f4f04a46823219e902b418750055
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mesh/small_saucer_gs.ply
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/90bc497d7c25580caf71f5564d8e8439.xml b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/90bc497d7c25580caf71f5564d8e8439.xml
new file mode 100644
index 0000000000000000000000000000000000000000..16d21a7ac1b8ce40bbef468cbc301609631b5a13
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/90bc497d7c25580caf71f5564d8e8439.xml
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+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..697b9e41a043443b5fe9ee40f8904ee84895f0c2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16e61d1d3dd951fa138e9ae388c517c491379482360d60a091b80ca354c0e24f
+size 742708
diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4bab59a0ccbaf23ead4c898f4784f5ddfa6bb49
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer.obj
@@ -0,0 +1,34404 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..746d8d9e530005f883929725d260c7cf2542db6b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision.obj
@@ -0,0 +1,23027 @@
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_0.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ddd645c63830cfbd72f81f1b2bf557b15550b9e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_0.obj
@@ -0,0 +1,1315 @@
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_1.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23c8393866407a91a212d2de0b7c1bed9ab5c6c7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_1.obj
@@ -0,0 +1,1312 @@
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_10.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4c01671a069a8e569ebff814ac3cf7d76f94755
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_10.obj
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_11.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28b871c82bbe234a453cc8bc53e81055dea1879a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_11.obj
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_12.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6c1a041d5cc8462a3c7381c2d3d592d7e2e9de6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_12.obj
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_13.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ffe120ea05d97b99e2ea9180bb78039a97bc62e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_13.obj
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_14.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbba3b664e4af94310e3838bedddfb03fb54c8de
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_14.obj
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_15.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e65d070bc328ad6e7f00177eda1780ae9c8242b9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_15.obj
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_16.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c94f78a16ae74f5ababcc5e1e687a04b6d04ea0b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_16.obj
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_17.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1975288cfe6a3001705876d7f5e304c47a2b100b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_17.obj
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_18.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f5367d4633ff56e3514fb01fa25d1ee74c28ed8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_18.obj
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_19.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38029613c386aa0ef2ed0953a36a387a81a879de
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_19.obj
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_2.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93c425b6f893894e0f1878cc2588e30e7b114068
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_2.obj
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_20.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..113dd2931bb8f98189168a26f161f24a30324b08
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_20.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_21.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..192a871a725b4767ab74ade7144bd7e7b6ce287f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_21.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_22.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb263e66573970941a7e59bfcaacf641e1c77ca3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_22.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_23.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..896a7eb28735c62cd746d12ceef9706bef32f15d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_23.obj
@@ -0,0 +1,802 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_24.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07827fbaf7fcb7e73e999ad72a0dc3c9bd28c9d8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_24.obj
@@ -0,0 +1,1204 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_25.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..026cf6b0e3108023233bb21022862e38b13e0169
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_25.obj
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_26.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66aae364cf0b3a656690182e0db52c691fc41e78
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_26.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_27.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbeaeacf0190a1cbe2ee74761e9046d476e12273
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_27.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_28.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..207dbd996b1f828d2099ffb37d2f4177e3f0b5ac
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_28.obj
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_29.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45cda990b604bf59f8262a5bc6bab88a862d6466
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_29.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_3.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..114ffff699cce11790aa4a07d2ebe730d793fd8d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_3.obj
@@ -0,0 +1,700 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_30.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f235095d1b602d900c71940b34c9702d5874739
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_30.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_31.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a3763659571d19efc77b36f669d0478ace24ab7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_31.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_32.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32eaddf82fd1e5d3d8d3dd924e25d4fcefce30af
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_32.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_4.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d2ae1cf070cb2d024f49329f01882dc4dcdfa9e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_4.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_5.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25901c0fa086f4450323741199b3940137602767
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_5.obj
@@ -0,0 +1,814 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_6.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..508c96c0624e4a5bed83ec736db2b006c013b125
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_6.obj
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_7.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bb1c9aab37708100ef789d949aae751e2b012a9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_7.obj
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_8.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed95751190de476b5786a9d3fe8b0c03d557a3ac
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_8.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_9.obj b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f381ededb0d8fef4578a3e8465446d458f9a97e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mjcf/mesh/small_saucer_collision_9.obj
@@ -0,0 +1,742 @@
+# https://github.com/mikedh/trimesh
+v 0.03794946 0.02287481 -0.00059953
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