diff --git a/.gitattributes b/.gitattributes
index b5494395d8371c2d998419edaf0fc8a248d3eea2..24d48c0e63f76e393540368131871de2ed626672 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2914,6 +2914,9 @@ 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/9290dfcc19a15643bf15089a1517a059/9290dfcc19a15643bf15089a1517a059.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mesh/tennis_ball.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mesh/tennis_ball_gs.ply 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
+dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/8ac3c729ad05564fae3d2056d72b468a.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mesh/small_saucer.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mesh/small_saucer_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/8ac3c729ad05564fae3d2056d72b468a.urdf b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/8ac3c729ad05564fae3d2056d72b468a.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ccaa8d660eb19b03c611410b8d3bd1179c05b1fc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/8ac3c729ad05564fae3d2056d72b468a.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>0.233079</scale>
+         <version>v0.1.7</version>
+         <category>small saucer</category>
+         <description>flat circular saucer with slightly raised edges and a central 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>20260120010337</generate_time>
+         <gs_model>mesh/small_saucer_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.3603339195251465</ImageAestheticChecker>
+         <overall>NO</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/8ac3c729ad05564fae3d2056d72b468a/8ac3c729ad05564fae3d2056d72b468a.usd b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/8ac3c729ad05564fae3d2056d72b468a.usd
new file mode 100644
index 0000000000000000000000000000000000000000..541819d11ae81975c1d3dc6f27501bd64e9c5c56
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/8ac3c729ad05564fae3d2056d72b468a.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:261c5f63752e543769bc34b90fe1cbed3043ea14d9c1aeb8bed32fa6473d0df3
+size 425252
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mesh/material.mtl b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/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/8ac3c729ad05564fae3d2056d72b468a/mesh/material_0.png b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c58a9c251da18511ab4669df84e8f61f37730039
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bff73ef45eb8f676a52efd867d530e08123295e9e3ea193ec339d8a111715500
+size 2384788
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mesh/small_saucer.glb b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mesh/small_saucer.glb
new file mode 100644
index 0000000000000000000000000000000000000000..512c66107c874fe93f7fef162d22653d2d6b4629
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mesh/small_saucer.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03f45f61e7247661789133d238c1d0e0e7882f16b5b6a6c79b56669715a10cf5
+size 2676996
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mesh/small_saucer.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mesh/small_saucer.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eb5f67089ee2f3376b84af428bcdd5ed1c34dfc
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mesh/small_saucer.obj
@@ -0,0 +1,26728 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mesh/small_saucer_collision.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mesh/small_saucer_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd3f9eaf1e488a4d67b9230e49025ba97facc761
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mesh/small_saucer_collision.obj
@@ -0,0 +1,12840 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mesh/small_saucer_gs.ply b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mesh/small_saucer_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..247eb4f721343e5d487ec644c1f2b348349bae3c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mesh/small_saucer_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74cf82dc6f17073cc2a77edcd9335926e1a4d47bd45aebe02869a5fba51df6d0
+size 2166665
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/8ac3c729ad05564fae3d2056d72b468a.xml b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/8ac3c729ad05564fae3d2056d72b468a.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c9a35324160089a5aa55bc4588fc056f38a90a29
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/8ac3c729ad05564fae3d2056d72b468a.xml
@@ -0,0 +1,118 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="small_saucer">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/small_saucer.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/small_saucer_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/small_saucer_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/small_saucer_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_4" file="mesh/small_saucer_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/small_saucer_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/small_saucer_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_17" file="mesh/small_saucer_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_23" file="mesh/small_saucer_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/small_saucer_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_38" file="mesh/small_saucer_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/small_saucer_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/small_saucer_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/small_saucer_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/small_saucer_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/small_saucer_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/small_saucer_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/small_saucer_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/small_saucer_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_50" file="mesh/small_saucer_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/small_saucer_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="small_saucer">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c58a9c251da18511ab4669df84e8f61f37730039
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bff73ef45eb8f676a52efd867d530e08123295e9e3ea193ec339d8a111715500
+size 2384788
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c71defb01d349df50dfa6ebe8cd21f7e5a985f8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer.obj
@@ -0,0 +1,26728 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb98387db01328d50633b495a15897a022047b3b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision.obj
@@ -0,0 +1,12840 @@
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diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_0.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dbe367119f44307c9dd811288476013de9abfe9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_0.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_1.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7af8726293daa551bee1491b2e44bb343d3e2d30
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_1.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_10.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b395dea0884b538f85910c8728284a2c3c547f3c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_10.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_11.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c71002018c822809d4ea3b4665a427e103d72cb0
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_11.obj
@@ -0,0 +1,904 @@
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diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_12.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..524b30507200e3052323a456bdd002a20e4c3804
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_12.obj
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diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_13.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbee89b9c8c2ce738613c7b47beec4d6abc5188a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_13.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_14.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34eb4039d1a96594079a777d948bb03e31737ef5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_14.obj
@@ -0,0 +1,649 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_15.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aa01f8a7605bc215e0715b4b56a0a57e2afea61
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_15.obj
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+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_16.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbea41a980d7a4aedb1dd575c53702635034e14e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_16.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.02632673 -0.08693689 0.00737930
+v -0.02886449 -0.08653550 0.00737930
+v -0.02632673 -0.07946135 -0.00245413
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+v -0.05256741 -0.05188882 -0.00245403
+v -0.05256741 -0.05916194 0.00737940
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+v -0.03158976 -0.07777688 -0.00245413
+v -0.03036454 -0.07821944 -0.00245413
+v -0.02887476 -0.07868602 -0.00245413
+v -0.05256741 -0.06573856 -0.00245408
+v -0.05256741 -0.07470644 0.00737935
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+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_17.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bdef60413d348b4527cdc25b89ae5b1e2ae524d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_17.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.05203952 0.07181246 0.02083365
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+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_18.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66bd05930b01fbc77528c55bb403fc7955188628
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_18.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.07130734 0.05274176 0.02075011
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+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_19.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17a810f08a5f4890ca2fd8c9be568ec2b1291e6b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_19.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.05291024 0.05133053 -0.00241259
+v -0.05291024 0.06550552 -0.00241254
+v -0.05291024 0.05914029 0.00737984
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+v -0.05729858 0.06183531 -0.00241255
+v -0.05890416 0.07099256 0.00737988
+v -0.05456159 0.07456565 0.00737989
+v -0.05291024 0.07493388 0.00737990
+v -0.07243870 0.03359456 0.00737974
+v -0.07807945 0.03359460 -0.00241266
+v -0.05738687 0.06175843 -0.00241255
+v -0.06298185 0.06729809 0.00737987
+v -0.08631332 0.03359456 0.00737974
+v -0.08599286 0.03629360 0.00737975
+v -0.08536829 0.03936896 0.00737976
+v -0.07774591 0.03445651 -0.00241265
+v -0.06128799 0.05805181 -0.00241257
+v -0.06681102 0.06340937 0.00737985
+v -0.06136973 0.05797088 -0.00241257
+v -0.07571851 0.03861634 -0.00241264
+v -0.07624498 0.03758043 -0.00241264
+v -0.07724887 0.03558145 -0.00241265
+v -0.08121212 0.04677815 0.00737979
+v -0.07382191 0.04218133 -0.00241263
+v -0.07055518 0.05960159 0.00737984
+v -0.07439089 0.05561981 0.00737982
+v -0.06504849 0.05403361 -0.00241258
+v -0.07819063 0.05166635 0.00737981
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+v -0.06511716 0.05395673 -0.00241258
+v -0.06817461 0.05019346 -0.00241260
+v -0.06860298 0.04962290 -0.00241260
+v -0.06999601 0.04776554 -0.00241260
+v -0.07098027 0.04639377 -0.00241261
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 22
+f 1 22 21
+f 1 21 20
+f 1 20 24
+f 1 24 29
+f 1 29 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 27
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+f 1 19 17
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+f 1 11 5
+f 1 5 2
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+f 3 8 7
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+f 3 6 12
+f 3 12 18
+f 3 18 25
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+f 3 28 23
+f 3 23 15
+f 3 15 14
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+f 3 13 9
+f 3 9 4
+f 4 9 13
+f 4 13 10
+f 5 11 6
+f 6 11 12
+f 10 13 14
+f 10 14 15
+f 10 15 16
+f 11 17 12
+f 12 17 19
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+f 15 20 21
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+f 15 22 16
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+f 28 33 34
+f 28 34 29
+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_2.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a969d5200e86a733c936f942e9ab10f91bc0900
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_2.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v 0.00464986 0.07867540 0.00737991
+v 0.00464986 0.08031117 0.01336381
+v -0.02519282 0.07422912 0.00737989
+v 0.00464986 0.09117231 0.00737995
+v 0.00464986 0.08114910 0.01600465
+v -0.02519282 0.07603729 0.01335738
+v -0.02519282 0.08723119 0.00737994
+v 0.00194778 0.09133268 0.00737996
+v 0.00464986 0.09706994 0.00793330
+v 0.00464986 0.08181464 0.01727179
+v -0.02519282 0.07710374 0.01624727
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+v -0.02289094 0.08851015 0.00737995
+v -0.02519282 0.10284330 0.00900275
+v -0.00190525 0.09121641 0.00737996
+v -0.00190525 0.09709400 0.00793074
+v 0.00194778 0.09710202 0.00792945
+v 0.00464986 0.09765129 0.00799236
+v 0.00464986 0.08209929 0.01781356
+v -0.02519282 0.07803388 0.01796889
+v -0.01674772 0.09060299 0.00737995
+v -0.02519282 0.10672426 0.00954453
+v -0.02502047 0.10672426 0.00953683
+v -0.01346140 0.10672427 0.00912344
+v -0.00560637 0.09108009 0.00737995
+v -0.00397636 0.09704990 0.00793459
+v -0.00190525 0.09903449 0.00813615
+v 0.00194778 0.10284330 0.00853030
+v 0.00194778 0.09904251 0.00812973
+v 0.00464986 0.10014506 0.00826069
+v -0.02519282 0.07808600 0.01805748
+v 0.00464986 0.08403977 0.01968667
+v -0.00961130 0.10672427 0.00902073
+v -0.00575827 0.10284330 0.00856497
+v -0.02519282 0.11014418 0.01070641
+v -0.01731443 0.11060123 0.01015951
+v -0.01346140 0.11060123 0.00990017
+v -0.00961130 0.11060123 0.00977436
+v -0.00190525 0.10284330 0.00854442
+v -0.00575827 0.10672427 0.00898864
+v -0.00190525 0.10672427 0.00897708
+v 0.00194778 0.10672427 0.00897323
+v 0.00464986 0.10672427 0.00899506
+v 0.00464986 0.10284330 0.00855469
+v -0.02519282 0.07986612 0.01953516
+v 0.00464986 0.08733137 0.02047495
+v -0.02116745 0.08345041 0.02034527
+v -0.02519282 0.08001447 0.01961604
+v -0.02502047 0.11016823 0.01069999
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+v -0.02274196 0.11243747 0.01197740
+v -0.02017425 0.11272214 0.01138427
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+v -0.00961130 0.11334357 0.01093751
+v -0.00575827 0.11060123 0.00974740
+v -0.00575827 0.11342375 0.01092211
+v -0.00190525 0.11060123 0.00975253
+v 0.00194778 0.11060123 0.00976794
+v 0.00464986 0.11060123 0.00978591
+v 0.00194778 0.08733137 0.02049549
+v -0.02502047 0.08345041 0.02040048
+v 0.00464986 0.11060121 0.01688290
+v -0.02519282 0.08324994 0.02036710
+v -0.02519282 0.11188819 0.01342042
+v -0.02360663 0.11265395 0.01528197
+v -0.02360663 0.11265396 0.01438843
+v -0.02134272 0.11294263 0.01325609
+v -0.01731443 0.11369637 0.01336394
+v -0.01346140 0.11422561 0.01336394
+v -0.00961130 0.11458644 0.01336394
+v -0.00575827 0.11488312 0.01336394
+v -0.00190525 0.11510764 0.01336394
+v -0.00190525 0.11346786 0.01092981
+v 0.00194778 0.11517981 0.01336394
+v 0.00194778 0.11345583 0.01094265
+v 0.00464986 0.11145520 0.01013768
+v -0.00190525 0.08733137 0.02048522
+v 0.00194778 0.11060121 0.01687776
+v -0.02519282 0.08345041 0.02039406
+v -0.00575827 0.08733137 0.02044542
+v -0.00961130 0.08733138 0.02036582
+v -0.01346140 0.08733138 0.02027210
+v 0.00464986 0.11420153 0.01599707
+v 0.00194778 0.11426569 0.01598936
+v -0.02519282 0.11075757 0.01588280
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+v -0.01731443 0.11327540 0.01571463
+v -0.01346140 0.11356005 0.01581605
+v -0.00961130 0.11378056 0.01587639
+v -0.00575827 0.11400107 0.01592389
+v -0.00190525 0.11418149 0.01595855
+v 0.00464986 0.11507557 0.01336394
+v 0.00464986 0.11393293 0.01167571
+v 0.00464986 0.11341574 0.01095164
+v -0.00190525 0.11060121 0.01683539
+v -0.02519282 0.10672424 0.01683409
+v -0.00575827 0.11060121 0.01678147
+v -0.00961130 0.11060121 0.01671728
+v -0.01346140 0.11060121 0.01663769
+v -0.01731443 0.11060121 0.01653370
+v -0.02519282 0.11055711 0.01593543
+v -0.02116745 0.11060121 0.01633342
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+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_20.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15fbe44f3bdee7ec70227e0e66b38275fb51ac53
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_20.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00194896 0.09133014 0.00737996
+v 0.00194896 0.08353467 -0.00241247
+v -0.00047387 0.08354158 -0.00241247
+v -0.00190407 0.08354389 -0.00241247
+v 0.00182855 0.09132784 0.00737996
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+v 0.00232486 0.08352084 -0.00241247
+v -0.00575710 0.08337563 -0.00241247
+v -0.01674645 0.09059946 0.00737995
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+v 0.00232486 0.07880246 0.00737991
+v 0.00232486 0.07308840 -0.00241251
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+v -0.01346022 0.08244902 -0.00241248
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+v -0.02767707 0.06778460 -0.00241253
+f 1 2 3
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+f 9 21 22
+f 9 22 23
+f 9 14 15
+f 12 24 13
+f 13 24 25
+f 22 25 24
+f 22 24 23
+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_21.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe628e8b10ad081b5f513e681b47f7dc21bebfee
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_21.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.07479064 -0.02841319 0.00738084
+v 0.06480027 -0.04648998 0.00738077
+v 0.06480027 -0.04954463 0.01336295
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diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_22.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d71625ff7446ca84da003d7206204a010cb50ad
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_22.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_23.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..307000115de712114c955f4b40e6014b78fff609
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_23.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_24.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e136b0f2b23478e254adee6d446ab5fc56b01e6
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_24.obj
@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_25.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd11fad68e19062539243d43b04d9aed53287061
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_25.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_26.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5df190657ba1063befc62d5eb1881b6e117c6a67
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_26.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_27.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f57e48e96c28a4654ceb72a54702c426d82b551
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_27.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.06479929 -0.08412149 0.01537511
+v 0.04818687 -0.07558969 0.02045339
+v 0.04048058 -0.07946879 0.02053195
+v 0.03988554 -0.08000296 0.02042195
+v 0.03988554 -0.08225379 0.01947648
+v 0.03988554 -0.08247482 0.01903780
+v 0.03988554 -0.08412148 0.01403550
+v 0.06479929 -0.08412146 0.00929379
+v 0.06479929 -0.06274407 0.02038010
+v 0.06359702 -0.06395606 0.02037618
+v 0.05204002 -0.07171059 0.02070876
+v 0.04433373 -0.07558969 0.02075719
+v 0.03988554 -0.07946879 0.02057254
+v 0.03988554 -0.08412146 0.00737931
+v 0.06436521 -0.08412146 0.00923618
+v 0.05853671 -0.08178221 0.00785204
+v 0.06479929 -0.07792521 0.00785860
+v 0.06479929 -0.05886498 0.02063547
+v 0.05589073 -0.06783149 0.02070484
+v 0.03988554 -0.07618648 0.02048350
+v 0.04571403 -0.08412146 0.00737931
+v 0.03988554 -0.06794564 0.00737937
+v 0.05589073 -0.08412146 0.00811786
+v 0.05272529 -0.08412146 0.00776823
+v 0.05197418 -0.08412146 0.00769359
+v 0.05589073 -0.08251898 0.00774729
+v 0.05979021 -0.07962347 0.00765694
+v 0.06359702 -0.07830097 0.00779706
+v 0.06479929 -0.07552702 0.00753255
+v 0.06479929 -0.05507428 0.01967038
+v 0.03988554 -0.07557127 0.02030541
+v 0.04818687 -0.08412146 0.00747097
+v 0.04818687 -0.08338837 0.00737931
+v 0.03988554 -0.06994600 0.01336246
+v 0.06479929 -0.04649085 0.00737945
+v 0.05224975 -0.08362414 0.00764644
+v 0.05589073 -0.07953874 0.00737933
+v 0.06359702 -0.07558964 0.00742910
+v 0.06479929 -0.07374035 0.00737935
+v 0.06479929 -0.05395807 0.01921861
+v 0.03988554 -0.07332411 0.01936651
+v 0.04822102 -0.08337364 0.00737931
+v 0.03988554 -0.07139377 0.01686407
+v 0.06479929 -0.04954479 0.01336254
+v 0.04826735 -0.08335154 0.00737931
+v 0.05600778 -0.07947244 0.00737933
+v 0.06268982 -0.07558964 0.00737934
+v 0.06359702 -0.07500759 0.00737934
+v 0.06479929 -0.05346444 0.01878123
+v 0.03988554 -0.07305519 0.01921723
+v 0.03988554 -0.07176215 0.01749917
+v 0.06479929 -0.05092625 0.01594225
+v 0.06479929 -0.05192826 0.01722556
+v 0.06479929 -0.05148988 0.01675545
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 14
+f 1 14 21
+f 1 21 32
+f 1 32 25
+f 1 25 24
+f 1 24 23
+f 1 23 15
+f 1 15 8
+f 1 8 17
+f 1 17 29
+f 1 29 39
+f 1 39 35
+f 1 35 44
+f 1 44 52
+f 1 52 54
+f 1 54 53
+f 1 53 49
+f 1 49 40
+f 1 40 30
+f 1 30 18
+f 1 18 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 11 3
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 20
+f 4 20 31
+f 4 31 41
+f 4 41 50
+f 4 50 51
+f 4 51 43
+f 4 43 34
+f 4 34 22
+f 4 22 14
+f 4 14 7
+f 4 7 6
+f 4 6 5
+f 8 15 16
+f 8 16 17
+f 9 18 19
+f 9 19 11
+f 9 11 10
+f 11 19 12
+f 12 20 13
+f 12 19 18
+f 12 18 20
+f 14 22 35
+f 14 35 39
+f 14 39 48
+f 14 48 47
+f 14 47 46
+f 14 46 37
+f 14 37 45
+f 14 45 42
+f 14 42 33
+f 14 33 21
+f 15 23 16
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 18 30 20
+f 20 30 31
+f 21 33 32
+f 22 34 35
+f 25 32 36
+f 25 36 26
+f 26 36 37
+f 26 37 27
+f 27 37 38
+f 27 38 28
+f 28 38 29
+f 29 38 39
+f 30 40 31
+f 31 40 41
+f 32 33 42
+f 32 42 36
+f 34 43 35
+f 35 43 44
+f 36 42 45
+f 36 45 37
+f 37 46 38
+f 38 47 48
+f 38 48 39
+f 38 46 47
+f 40 49 50
+f 40 50 41
+f 43 51 52
+f 43 52 44
+f 49 53 50
+f 50 53 54
+f 50 54 51
+f 51 54 52
+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_28.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..589e14d80a02327be7fcbacfc957edb25aefe1d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_28.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.03988554 -0.08412377 0.00738021
+v 0.03988554 -0.08669437 0.00738020
+v 0.03988554 -0.08412379 0.01403446
+v 0.04571403 -0.08412377 0.00738021
+v 0.03993675 -0.08668282 0.00738020
+v 0.03988554 -0.08976615 0.00780909
+v 0.03988554 -0.10274157 0.01665501
+v 0.04433373 -0.09886373 0.01645149
+v 0.06479929 -0.08989783 0.01659418
+v 0.06479929 -0.08707317 0.01615712
+v 0.06479929 -0.08571974 0.01588180
+v 0.06479929 -0.08443559 0.01549743
+v 0.06479929 -0.08415613 0.01538930
+v 0.06479929 -0.08412380 0.01537476
+v 0.04818687 -0.08412377 0.00747017
+v 0.04818687 -0.08628787 0.00773913
+v 0.04426544 -0.08740342 0.00768461
+v 0.04048058 -0.08722788 0.00747834
+v 0.03988554 -0.10274155 0.01019523
+v 0.04293635 -0.08932040 0.00789178
+v 0.04048058 -0.10274155 0.01021431
+v 0.03988554 -0.10334207 0.01659595
+v 0.04048058 -0.10274157 0.01666228
+v 0.06359702 -0.09110806 0.01659237
+v 0.06479929 -0.09120969 0.01643606
+v 0.06479929 -0.08412377 0.00929298
+v 0.05197418 -0.08412377 0.00769280
+v 0.05110356 -0.08568506 0.00784091
+v 0.03988554 -0.10598193 0.01088672
+v 0.05204002 -0.09886371 0.01023977
+v 0.04433373 -0.10274155 0.01042967
+v 0.03988554 -0.10664251 0.01577177
+v 0.04433373 -0.10274157 0.01645783
+v 0.05204002 -0.09886373 0.01653872
+v 0.05974387 -0.09498590 0.01648512
+v 0.06479929 -0.09393734 0.01592083
+v 0.06479929 -0.08455798 0.00932115
+v 0.05589073 -0.08412377 0.00811806
+v 0.05272529 -0.08412377 0.00776731
+v 0.05367151 -0.08510304 0.00800811
+v 0.06359702 -0.09110804 0.00994539
+v 0.05974387 -0.09498588 0.01018435
+v 0.03988554 -0.10763101 0.01357458
+v 0.04048058 -0.10582950 0.01089399
+v 0.04433373 -0.10518281 0.01118295
+v 0.05578830 -0.09898150 0.01077771
+v 0.05204002 -0.10159368 0.01103031
+v 0.04797959 -0.10284549 0.01087128
+v 0.03988554 -0.10678801 0.01571543
+v 0.04011966 -0.10664251 0.01573906
+v 0.04433373 -0.10537915 0.01562366
+v 0.04818200 -0.10290555 0.01589445
+v 0.05204002 -0.10174151 0.01571818
+v 0.05594682 -0.09903003 0.01593445
+v 0.05974387 -0.09783365 0.01568093
+v 0.06350434 -0.09500668 0.01586722
+v 0.06479929 -0.09449395 0.01574728
+v 0.06479929 -0.09118888 0.01012440
+v 0.06343363 -0.09502052 0.01078590
+v 0.05974387 -0.09772046 0.01101124
+v 0.03988554 -0.10771647 0.01389262
+v 0.04655539 -0.10479942 0.01144829
+v 0.05443726 -0.10103706 0.01135653
+v 0.03988554 -0.10693813 0.01565455
+v 0.04689436 -0.10492877 0.01537195
+v 0.05470064 -0.10113639 0.01543013
+v 0.06215819 -0.09721237 0.01539379
+v 0.06479929 -0.09551017 0.01385450
+v 0.06479929 -0.09447084 0.01090766
+v 0.06204112 -0.09714305 0.01136290
+v 0.04695777 -0.10495648 0.01336105
+v 0.05487135 -0.10122877 0.01336107
+v 0.06231426 -0.09730474 0.01336108
+v 0.06479929 -0.09566030 0.01336109
+f 1 2 6
+f 1 6 19
+f 1 19 29
+f 1 29 43
+f 1 43 61
+f 1 61 64
+f 1 64 49
+f 1 49 32
+f 1 32 22
+f 1 22 7
+f 1 7 3
+f 1 3 14
+f 1 14 26
+f 1 26 38
+f 1 38 39
+f 1 39 27
+f 1 27 15
+f 1 15 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 4 15 5
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 6
+f 6 18 20
+f 6 20 21
+f 6 21 19
+f 7 22 23
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+f 7 9 8
+f 9 24 25
+f 9 25 36
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+f 9 23 24
+f 15 27 16
+f 16 20 17
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+f 16 28 20
+f 17 20 18
+f 19 21 29
+f 20 28 30
+f 20 30 31
+f 20 31 21
+f 21 31 29
+f 22 32 33
+f 22 33 23
+f 23 33 34
+f 23 34 24
+f 24 34 35
+f 24 35 25
+f 25 35 36
+f 26 37 38
+f 27 39 40
+f 27 40 28
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+f 28 42 30
+f 29 31 44
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+f 30 47 48
+f 30 48 31
+f 31 48 44
+f 32 49 50
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+f 32 51 33
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+f 33 52 53
+f 33 53 34
+f 34 53 54
+f 34 54 35
+f 35 55 56
+f 35 56 36
+f 35 54 55
+f 36 56 57
+f 37 58 41
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+f 38 40 39
+f 38 41 40
+f 41 58 42
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+f 42 59 60
+f 42 60 46
+f 43 45 62
+f 43 62 61
+f 44 48 45
+f 45 48 47
+f 45 47 62
+f 46 60 47
+f 47 60 63
+f 47 63 62
+f 49 64 51
+f 49 51 50
+f 51 65 53
+f 51 53 52
+f 51 64 65
+f 53 66 55
+f 53 55 54
+f 53 65 66
+f 55 67 56
+f 55 66 67
+f 56 67 57
+f 57 67 68
+f 58 69 59
+f 59 70 60
+f 59 69 70
+f 60 70 63
+f 61 62 71
+f 61 71 65
+f 61 65 64
+f 62 63 72
+f 62 72 71
+f 63 70 72
+f 65 71 72
+f 65 72 66
+f 66 72 67
+f 67 73 74
+f 67 74 68
+f 67 72 73
+f 69 74 70
+f 70 74 73
+f 70 73 72
+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_29.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8836df9d7aa741effe0954d5986111b87740290
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_29.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.03823406 -0.03177861 -0.01357774
+v -0.03823406 -0.04118976 -0.01822572
+v -0.03823406 -0.04991897 -0.01357780
+v 0.00232486 -0.05028692 -0.01357780
+v 0.00232486 -0.05464199 -0.01702296
+v 0.00232486 -0.05658004 -0.01849055
+v -0.03823406 -0.04231580 -0.01863047
+v -0.03823406 -0.04962080 -0.01558412
+v -0.03699538 -0.05166037 -0.01357781
+v 0.00232486 -0.06416418 -0.01357786
+v 0.00232486 -0.06007235 -0.01896257
+v -0.03272351 -0.04843448 -0.01910413
+v -0.03823406 -0.04453299 -0.01865868
+v -0.03823406 -0.04943048 -0.01606427
+v -0.03554628 -0.05098790 -0.01797620
+v -0.03267190 -0.05507022 -0.01357782
+v 0.00194770 -0.06417370 -0.01357786
+v 0.00194770 -0.06239105 -0.01787044
+v 0.00232486 -0.06237836 -0.01785579
+v 0.00194770 -0.06007235 -0.01897613
+v -0.02887247 -0.05231377 -0.01903035
+v -0.03823406 -0.04726721 -0.01863048
+v -0.01731541 -0.05619306 -0.01911989
+v -0.03823406 -0.04806019 -0.01836899
+v -0.03672938 -0.04863749 -0.01861150
+v -0.03245354 -0.05229474 -0.01830172
+v -0.02887247 -0.05491794 -0.01800984
+v -0.03098856 -0.05436921 -0.01752535
+v -0.03205653 -0.05547940 -0.01357782
+v -0.00190333 -0.06418005 -0.01357786
+v -0.00190333 -0.06238153 -0.01785579
+v -0.00190333 -0.06007235 -0.01894412
+v -0.02116644 -0.05619306 -0.01893597
+v -0.02471177 -0.05626919 -0.01831639
+v -0.00575834 -0.06007235 -0.01884429
+v -0.02116644 -0.05856885 -0.01785361
+v -0.02321900 -0.05818822 -0.01745375
+v -0.02443783 -0.05940309 -0.01357784
+v -0.00575834 -0.06405634 -0.01357786
+v -0.00575834 -0.06227368 -0.01772992
+v -0.01346437 -0.05971075 -0.01851063
+v -0.01731541 -0.05917469 -0.01832725
+v -0.00983170 -0.06043079 -0.01843250
+v -0.01126095 -0.06196284 -0.01707887
+v -0.01324601 -0.06305401 -0.01357785
+v -0.00967289 -0.06381210 -0.01357785
+v -0.00869227 -0.06214365 -0.01756173
+f 1 2 7
+f 1 7 13
+f 1 13 22
+f 1 22 24
+f 1 24 14
+f 1 14 8
+f 1 8 3
+f 1 3 9
+f 1 9 16
+f 1 16 29
+f 1 29 38
+f 1 38 45
+f 1 45 46
+f 1 46 39
+f 1 39 30
+f 1 30 17
+f 1 17 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 4 10 19
+f 4 19 11
+f 4 11 6
+f 4 6 5
+f 6 11 7
+f 7 12 13
+f 7 11 12
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 10 17 18
+f 10 18 19
+f 11 19 18
+f 11 18 20
+f 11 20 12
+f 12 21 22
+f 12 22 13
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+f 12 23 21
+f 14 24 15
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+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 16 28 29
+f 17 30 18
+f 18 30 31
+f 18 31 20
+f 20 31 32
+f 20 32 23
+f 21 33 34
+f 21 34 27
+f 21 27 26
+f 21 26 25
+f 21 25 22
+f 21 23 33
+f 22 25 24
+f 23 32 35
+f 23 35 33
+f 27 34 36
+f 27 36 37
+f 27 37 28
+f 28 37 38
+f 28 38 29
+f 30 39 31
+f 31 39 40
+f 31 40 35
+f 31 35 32
+f 33 35 41
+f 33 41 42
+f 33 42 34
+f 34 42 36
+f 35 40 43
+f 35 43 41
+f 36 42 44
+f 36 44 37
+f 37 44 45
+f 37 45 38
+f 39 46 40
+f 40 46 47
+f 40 47 43
+f 41 43 47
+f 41 47 42
+f 42 47 44
+f 44 47 46
+f 44 46 45
+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_3.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..104f9933cb613e0288c20879e49be6ea7f641b74
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_3.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.07496555 -0.00505528 -0.00243056
+v 0.04923990 -0.05508026 -0.00243074
+v 0.08025410 -0.00505532 0.00737960
+v 0.08533350 -0.00505528 -0.00243056
+v 0.06464740 -0.05508026 -0.00243074
+v 0.05730219 -0.05508030 0.00737942
+v 0.10010857 -0.00505532 0.00737960
+v 0.10007869 -0.00577024 0.00737960
+v 0.08529366 -0.00577020 -0.00243056
+v 0.06504081 -0.05467873 -0.00243074
+v 0.08308263 -0.05490402 0.00737942
+v 0.08288343 -0.05508030 0.00737942
+v 0.09967533 -0.00964845 0.00737958
+v 0.08506957 -0.00877190 -0.00243057
+v 0.08517414 -0.00749875 -0.00243057
+v 0.06548401 -0.05420375 -0.00243074
+v 0.08671290 -0.04910629 0.00737944
+v 0.06581268 -0.05381201 -0.00243074
+v 0.06886529 -0.05007091 -0.00243072
+v 0.06902963 -0.04986035 -0.00243072
+v 0.07139005 -0.04640326 -0.00243071
+v 0.07356623 -0.04313714 -0.00243070
+v 0.09827102 -0.02031353 0.00737955
+v 0.08479568 -0.01124964 -0.00243058
+v 0.08488034 -0.01058858 -0.00243058
+v 0.08709635 -0.04843544 0.00737944
+v 0.07422854 -0.04204027 -0.00243069
+v 0.09811665 -0.02128798 0.00737954
+v 0.08457657 -0.01277252 -0.00243059
+v 0.09060213 -0.04218722 0.00737947
+v 0.07630013 -0.03835793 -0.00243068
+v 0.09734976 -0.02518088 0.00737953
+v 0.08373000 -0.01740483 -0.00243060
+v 0.08445705 -0.01352662 -0.00243059
+v 0.09139890 -0.04067413 0.00737947
+v 0.07658897 -0.03783398 -0.00243068
+v 0.09652311 -0.02904440 0.00737951
+v 0.08351089 -0.01841356 -0.00243061
+v 0.09445650 -0.03422024 0.00737949
+v 0.07756999 -0.03595854 -0.00243067
+v 0.09504909 -0.03291771 0.00737950
+v 0.08109071 -0.02762430 -0.00243064
+v 0.08143929 -0.02661068 -0.00243064
+v 0.08187254 -0.02516615 -0.00243063
+v 0.08294818 -0.02100393 -0.00243062
+v 0.07833189 -0.03434261 -0.00243067
+v 0.08003499 -0.03030281 -0.00243065
+v 0.08031385 -0.02960258 -0.00243065
+f 1 2 3
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+f 1 31 27
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+f 1 19 18
+f 1 18 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 12
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+f 2 6 3
+f 3 6 12
+f 3 12 11
+f 3 11 17
+f 3 17 26
+f 3 26 30
+f 3 30 35
+f 3 35 39
+f 3 39 41
+f 3 41 37
+f 3 37 32
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+f 3 28 23
+f 3 23 13
+f 3 13 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 10 16 11
+f 11 16 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 17
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 17 22 27
+f 17 27 26
+f 23 28 29
+f 23 29 24
+f 26 27 31
+f 26 31 30
+f 28 32 33
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+f 30 31 36
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+f 35 36 40
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+f 37 44 45
+f 37 45 38
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+f 39 46 41
+f 41 46 47
+f 41 47 48
+f 41 48 42
+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_30.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edacb92b2c8ee9ce1267fb4999ff93819450fa9e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_30.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.03988554 -0.06794879 0.00738068
+v 0.03988554 -0.06994941 0.01336291
+v 0.03988554 -0.08669104 0.00738061
+v 0.00464986 -0.07858825 0.00738064
+v 0.00464986 -0.08113865 0.01591525
+v 0.03988554 -0.07139569 0.01686372
+v 0.03988554 -0.08976380 0.00781015
+v 0.03332886 -0.09125342 0.00769323
+v 0.03111801 -0.09125342 0.00759734
+v 0.02833116 -0.09051431 0.00738060
+v 0.00464986 -0.09125342 0.00738059
+v 0.00464986 -0.08137818 0.01645646
+v 0.03988554 -0.07176753 0.01749820
+v 0.00464986 -0.08194164 0.01772411
+v 0.03988554 -0.09125342 0.00826203
+v 0.03662617 -0.09125342 0.00794807
+v 0.02911065 -0.09125342 0.00751458
+v 0.02891751 -0.09125342 0.00750670
+v 0.02506490 -0.09125342 0.00739110
+v 0.02506490 -0.09116445 0.00738060
+v 0.00464986 -0.09125346 0.01873293
+v 0.02449580 -0.09125342 0.00738059
+v 0.03988554 -0.07305641 0.01921773
+v 0.00464986 -0.08252106 0.01839011
+v 0.03988554 -0.09125344 0.01310011
+v 0.00464986 -0.09071966 0.01910338
+v 0.00732978 -0.09125346 0.01865411
+v 0.00965791 -0.09001477 0.01946594
+v 0.03988554 -0.07332560 0.01936748
+v 0.00464986 -0.08388065 0.01971818
+v 0.03988554 -0.08225417 0.01947648
+v 0.03212859 -0.08573982 0.01922688
+v 0.02891751 -0.08620975 0.01959994
+v 0.01995338 -0.08931216 0.01895494
+v 0.01092371 -0.09125346 0.01840715
+v 0.00464986 -0.09014023 0.01946857
+v 0.00580530 -0.09012198 0.01947514
+v 0.01351052 -0.08981631 0.01938187
+v 0.01736313 -0.08722715 0.02022391
+v 0.01351052 -0.08722715 0.02038023
+v 0.00965791 -0.08722716 0.02043409
+v 0.03988554 -0.07557256 0.02030540
+v 0.00464986 -0.08485472 0.01991653
+v 0.03988554 -0.07619078 0.02048405
+v 0.03988554 -0.08000492 0.02042099
+v 0.03662617 -0.08294537 0.01981671
+v 0.02891751 -0.08334686 0.02068106
+v 0.02506490 -0.08670248 0.01980881
+v 0.01736313 -0.08952888 0.01917038
+v 0.00464986 -0.08810997 0.02012408
+v 0.02506490 -0.08334686 0.02073755
+v 0.00580530 -0.08722715 0.02041176
+v 0.00464986 -0.08722715 0.02039862
+v 0.03662617 -0.07947113 0.02079931
+v 0.03988554 -0.07947113 0.02057337
+f 1 2 6
+f 1 6 13
+f 1 13 23
+f 1 23 29
+f 1 29 42
+f 1 42 44
+f 1 44 55
+f 1 55 45
+f 1 45 31
+f 1 31 25
+f 1 25 15
+f 1 15 7
+f 1 7 3
+f 1 3 10
+f 1 10 20
+f 1 20 22
+f 1 22 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
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+f 3 7 8
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+f 4 11 21
+f 4 21 26
+f 4 26 36
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+f 4 53 43
+f 4 43 30
+f 4 30 24
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+f 4 14 12
+f 4 12 5
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+f 7 15 16
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+f 8 25 35
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+f 8 27 21
+f 8 21 11
+f 8 11 22
+f 8 22 19
+f 8 19 18
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+f 25 34 35
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+f 27 38 28
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+f 28 41 37
+f 29 30 42
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+f 30 44 42
+f 31 45 46
+f 31 46 32
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+f 33 46 47
+f 33 47 48
+f 33 48 49
+f 33 49 34
+f 34 49 35
+f 35 49 38
+f 36 37 41
+f 36 41 50
+f 38 49 48
+f 38 48 39
+f 39 48 47
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+f 40 47 51
+f 40 51 41
+f 41 52 50
+f 41 51 52
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+f 44 54 55
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+f 45 55 47
+f 45 47 46
+f 47 55 54
+f 47 54 51
+f 50 52 53
+f 51 53 52
+f 51 54 53
+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_31.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7316cc92759d48dfe9357de2310b3a9cada9daf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_31.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.06512328 -0.00505972 -0.01342262
+v 0.06505922 -0.00576751 -0.01342262
+v 0.06468820 -0.00505971 -0.01557491
+v 0.04908912 -0.00505972 -0.01342262
+v 0.06462947 -0.00964694 -0.01342264
+v 0.06347636 -0.00505970 -0.01800422
+v 0.06460278 -0.00576750 -0.01557491
+v 0.06286243 -0.00964692 -0.01847434
+v 0.03785694 -0.03074636 -0.01342271
+v 0.05716626 -0.00505970 -0.01797509
+v 0.03785694 -0.04161412 -0.01799407
+v 0.06413299 -0.01352637 -0.01342265
+v 0.06314804 -0.00505970 -0.01855314
+v 0.06311868 -0.00576749 -0.01855029
+v 0.06401555 -0.00964693 -0.01557493
+v 0.06248874 -0.01352635 -0.01822759
+v 0.05974475 -0.01740577 -0.01884906
+v 0.05974475 -0.01352635 -0.01920548
+v 0.03785694 -0.05081545 -0.01342279
+v 0.05974475 -0.00505970 -0.01914491
+v 0.03785694 -0.04440049 -0.01873721
+v 0.06352975 -0.01740579 -0.01342266
+v 0.05974475 -0.00964692 -0.01925688
+v 0.06196556 -0.01740577 -0.01771637
+v 0.05984351 -0.02090442 -0.01829388
+v 0.05589036 -0.02516463 -0.01916954
+v 0.03785694 -0.05033612 -0.01557507
+v 0.04293651 -0.04823066 -0.01342278
+v 0.04433520 -0.04067785 -0.01925471
+v 0.04048080 -0.04455728 -0.01912791
+v 0.03785694 -0.04838743 -0.01843849
+v 0.06283040 -0.02056399 -0.01342268
+v 0.06167195 -0.01935446 -0.01738737
+v 0.05859164 -0.02516463 -0.01811796
+v 0.05594108 -0.02889174 -0.01839330
+v 0.05232425 -0.03319674 -0.01862121
+v 0.04818692 -0.03679843 -0.01911189
+v 0.03785694 -0.05024652 -0.01592521
+v 0.04267492 -0.04672099 -0.01763080
+v 0.04363319 -0.04771101 -0.01342278
+v 0.04798139 -0.04039115 -0.01815172
+v 0.04410831 -0.04436017 -0.01821170
+v 0.04048080 -0.04750045 -0.01809062
+v 0.06259284 -0.02112843 -0.01342268
+v 0.05804444 -0.02750304 -0.01764501
+v 0.05468920 -0.03209025 -0.01801917
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+v 0.04655868 -0.04294012 -0.01768049
+v 0.04750893 -0.04388087 -0.01342276
+v 0.05026092 -0.03890838 -0.01754452
+v 0.05913883 -0.02854683 -0.01342270
+v 0.05878917 -0.02910231 -0.01342271
+v 0.05069334 -0.04051213 -0.01342275
+v 0.05125121 -0.03988945 -0.01342275
+f 1 2 3
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+f 1 20 10
+f 1 10 4
+f 1 4 9
+f 1 9 19
+f 1 19 28
+f 1 28 40
+f 1 40 49
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+f 22 32 33
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+f 23 26 29
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+f 26 36 37
+f 26 37 29
+f 27 38 28
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+f 30 43 31
+f 31 43 38
+f 32 44 33
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+f 36 46 47
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+f 48 53 49
+f 50 54 53
+f 50 52 54
+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_32.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d1a295c74052756b45869d5f0d1f22afc250a11
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_32.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.11329313 0.02892362 0.01336174
+v 0.11263357 0.02892361 0.01568374
+v 0.11247989 0.02892363 0.01095406
+v 0.11245641 0.02914512 0.01096536
+v 0.11208501 0.03234154 0.01124785
+v 0.11174563 0.03492713 0.01167252
+v 0.11324617 0.02914511 0.01336174
+v 0.11183742 0.03523719 0.01525533
+v 0.11210636 0.03302464 0.01550108
+v 0.11254819 0.02914510 0.01582310
+v 0.11257168 0.02892361 0.01583440
+v 0.11000389 0.02892363 0.01005577
+v 0.10983313 0.02914512 0.01001245
+v 0.10947027 0.03690421 0.01065654
+v 0.10879578 0.04078142 0.01088913
+v 0.10827710 0.04368175 0.01122247
+v 0.11183742 0.03523720 0.01408303
+v 0.11223229 0.03339069 0.01307080
+v 0.10772213 0.04626733 0.01261229
+v 0.10839877 0.04484747 0.01363580
+v 0.10792278 0.04663802 0.01502374
+v 0.10792278 0.04663802 0.01518758
+v 0.10824509 0.04465861 0.01546063
+v 0.10889823 0.04078140 0.01587210
+v 0.10983313 0.03302464 0.01646999
+v 0.10983313 0.02914510 0.01679013
+v 0.10983313 0.02892361 0.01679860
+v 0.10983313 0.02892363 0.01000304
+v 0.09691313 0.02914513 0.00782416
+v 0.09658228 0.03183563 0.00788349
+v 0.10598040 0.03690421 0.00970740
+v 0.10598040 0.04078142 0.00994658
+v 0.10625575 0.04484748 0.01060854
+v 0.10525040 0.04853818 0.01081477
+v 0.10454816 0.05158539 0.01116883
+v 0.10427922 0.05273946 0.01158784
+v 0.10475308 0.05273945 0.01329309
+v 0.10476375 0.05273945 0.01336182
+v 0.10476375 0.05273945 0.01338066
+v 0.10452042 0.05273944 0.01552281
+v 0.10458872 0.05241770 0.01557177
+v 0.10597186 0.04817445 0.01581564
+v 0.10598040 0.04465861 0.01638717
+v 0.10598040 0.04078140 0.01677228
+v 0.10598040 0.03690419 0.01690315
+v 0.10598040 0.03302464 0.01694080
+v 0.10598040 0.02914510 0.01690124
+v 0.10598040 0.02892361 0.01689559
+v 0.09694301 0.02892364 0.00782040
+v 0.09442219 0.02914513 0.00752662
+v 0.09442219 0.02892364 0.00751908
+v 0.09148941 0.04396853 0.00780350
+v 0.09263776 0.04314320 0.00790707
+v 0.09827706 0.05241773 0.00942309
+v 0.10212980 0.04853818 0.00980914
+v 0.10239234 0.05273946 0.01054642
+v 0.10243289 0.05273946 0.01056055
+v 0.10212553 0.05273944 0.01646630
+v 0.10212980 0.05241770 0.01652656
+v 0.10212980 0.04853816 0.01686082
+v 0.09827706 0.05241770 0.01699925
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+v 0.10212980 0.02892361 0.01634946
+v 0.09442219 0.05241770 0.01681940
+v 0.09442219 0.04853816 0.01659529
+v 0.09199742 0.03158616 0.00738068
+v 0.09148941 0.03604158 0.00748991
+v 0.09148941 0.03959472 0.00762835
+v 0.09291525 0.02892364 0.00738067
+v 0.09148941 0.04853819 0.00809824
+v 0.09148941 0.05252265 0.00838073
+v 0.09795476 0.05273947 0.00939672
+v 0.09827706 0.05273947 0.00944757
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+v 0.09148941 0.05226383 0.01628739
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+v 0.09148941 0.03282650 0.00738068
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+v 0.09148941 0.05265554 0.00839203
+v 0.09148941 0.05273947 0.00839956
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+f 21 39 22
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+f 50 67 68
+f 50 68 52
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+f 52 79 80
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+f 52 81 71
+f 52 71 70
+f 52 70 53
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+f 54 70 71
+f 54 71 72
+f 54 72 73
+f 54 73 55
+f 55 73 56
+f 58 74 59
+f 59 74 60
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+f 61 74 62
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+f 63 65 77
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+f 64 78 65
+f 65 78 77
+f 66 79 67
+f 66 69 80
+f 66 80 79
+f 71 81 72
+f 72 81 82
+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_33.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7de8b83dce6fd7dde6f0f3959239c3c13a8fe97a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_33.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.02632673 -0.06789497 -0.00245409
+v -0.02632673 -0.07946492 -0.00245413
+v -0.02632673 -0.07401327 0.00737935
+v 0.00232206 -0.07867696 0.00737933
+v 0.00232206 -0.07297289 -0.00245411
+v -0.02632673 -0.08693543 0.00737930
+v -0.02159821 -0.08084569 -0.00245414
+v -0.02131214 -0.08926133 0.00737929
+v 0.00232206 -0.09221333 0.00737928
+v 0.00232206 -0.08338822 -0.00245415
+v -0.02116630 -0.08096473 -0.00245414
+v -0.02017348 -0.08123136 -0.00245414
+v -0.01862815 -0.08156703 -0.00245414
+v -0.01731281 -0.09000409 0.00737929
+v 0.00194905 -0.09219667 0.00737928
+v -0.00343014 -0.08332633 -0.00245415
+v -0.00182872 -0.08339775 -0.00245415
+v 0.00070382 -0.08340489 -0.00245415
+v 0.00187333 -0.08340727 -0.00245415
+v -0.01531875 -0.08208363 -0.00245414
+v -0.01346212 -0.08235265 -0.00245414
+v -0.01160549 -0.08260262 -0.00245414
+v -0.01344810 -0.09051592 0.00737929
+v -0.00190444 -0.09181814 0.00737928
+v -0.00961143 -0.08285496 -0.00245414
+v -0.00743788 -0.08305494 -0.00245415
+v -0.00575794 -0.08319777 -0.00245415
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 27
+f 1 27 26
+f 1 26 25
+f 1 25 22
+f 1 22 21
+f 1 21 20
+f 1 20 13
+f 1 13 12
+f 1 12 11
+f 1 11 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 6 8
+f 3 8 14
+f 3 14 23
+f 3 23 24
+f 3 24 15
+f 3 15 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 7 11 8
+f 8 11 12
+f 8 12 13
+f 8 13 14
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 13 20 14
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 22 25 23
+f 23 25 24
+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_34.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62d97303e732bcb67970bd814dca061f7b0b0393
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_34.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.06702911 -0.03221766 -0.00245396
+v -0.07315472 -0.03221770 0.00737950
+v -0.07864176 -0.03221766 -0.00245396
+v -0.07463948 0.00008038 -0.00245384
+v -0.08030258 0.00008034 0.00737962
+v -0.08660952 -0.03221770 0.00737950
+v -0.08861460 -0.02913492 0.00737951
+v -0.08069414 -0.02684572 -0.00245394
+v -0.08499336 0.00008038 -0.00245384
+v -0.09387301 0.00008034 0.00737962
+v -0.09204926 -0.01742352 0.00737956
+v -0.08082816 -0.02642836 -0.00245394
+v -0.08499599 -0.00025161 -0.00245384
+v -0.08499599 -0.00100097 -0.00245384
+v -0.09386249 -0.00188948 0.00737961
+v -0.09317399 -0.01352815 0.00737957
+v -0.08135899 -0.02448384 -0.00245393
+v -0.08494081 -0.00278424 -0.00245385
+v -0.09381256 -0.00576904 0.00737960
+v -0.09366803 -0.00964860 0.00737958
+v -0.08435479 -0.00964856 -0.00245388
+v -0.08371884 -0.01352811 -0.00245389
+v -0.08297777 -0.01715473 -0.00245390
+v -0.08213422 -0.02128091 -0.00245392
+v -0.08475686 -0.00576900 -0.00245386
+v -0.08451509 -0.00821309 -0.00245387
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 12
+f 1 12 17
+f 1 17 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 26
+f 1 26 25
+f 1 25 18
+f 1 18 14
+f 1 14 13
+f 1 13 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 15
+f 2 15 19
+f 2 19 20
+f 2 20 16
+f 2 16 11
+f 2 11 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 7 11 12
+f 7 12 8
+f 9 13 10
+f 10 13 14
+f 10 14 15
+f 11 16 12
+f 12 16 17
+f 14 18 19
+f 14 19 15
+f 16 20 21
+f 16 21 22
+f 16 22 23
+f 16 23 24
+f 16 24 17
+f 18 25 20
+f 18 20 19
+f 20 25 26
+f 20 26 21
+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_35.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7daf2fb41859bc20576f5ab7a2f46d95477a680
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_35.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.07479064 -0.06023375 0.00738031
+v 0.07479064 -0.06023377 0.01258840
+v 0.07946671 -0.06023375 0.00738031
+v 0.07479064 -0.06537920 0.00738029
+v 0.08459578 -0.06613689 0.01578975
+v 0.08459578 -0.06502954 0.01548145
+v 0.08459578 -0.06023377 0.01386564
+v 0.07479064 -0.07983588 0.01649714
+v 0.08459578 -0.06996961 0.01658159
+v 0.08193239 -0.06023375 0.00775743
+v 0.08286242 -0.07558962 0.00975399
+v 0.07896954 -0.06085542 0.00738031
+v 0.07512561 -0.06519603 0.00738029
+v 0.07479064 -0.06770214 0.00763078
+v 0.08459578 -0.06023375 0.00840982
+v 0.07479064 -0.08334666 0.01665494
+v 0.08459578 -0.07384674 0.01675316
+v 0.08371566 -0.06023375 0.00817400
+v 0.08459578 -0.07560627 0.01012193
+v 0.08292864 -0.07955001 0.01056235
+v 0.07901081 -0.07946674 0.00977049
+v 0.07479064 -0.06820447 0.00769684
+v 0.07506130 -0.06769104 0.00766381
+v 0.07882173 -0.06369180 0.00770879
+v 0.08404007 -0.06023375 0.00825475
+v 0.07479064 -0.08371578 0.01664943
+v 0.07515728 -0.08334666 0.01666595
+v 0.07901081 -0.07946676 0.01670634
+v 0.08459578 -0.07777659 0.01598147
+v 0.08289601 -0.07951117 0.01597596
+v 0.08459578 -0.07876181 0.01086973
+v 0.08168860 -0.08211163 0.01107526
+v 0.07899449 -0.08337995 0.01063298
+v 0.07515728 -0.08334664 0.00985764
+v 0.07479064 -0.08334664 0.00985030
+v 0.07479064 -0.08711833 0.01581352
+v 0.07896762 -0.08334111 0.01593832
+v 0.08459578 -0.07867024 0.01569702
+v 0.08163486 -0.08204226 0.01554195
+v 0.08459578 -0.07993856 0.01336183
+v 0.08395081 -0.08059076 0.01336182
+v 0.08202453 -0.08241137 0.01336182
+v 0.07769878 -0.08578893 0.01116699
+v 0.07495957 -0.08714051 0.01079721
+v 0.07479064 -0.08714329 0.01076235
+v 0.07479064 -0.08723212 0.01578325
+v 0.07492597 -0.08711555 0.01578783
+v 0.07765368 -0.08574732 0.01548413
+v 0.08459578 -0.07958887 0.01429774
+v 0.07989861 -0.08435132 0.01336181
+v 0.07797233 -0.08600819 0.01336180
+v 0.07479064 -0.08851430 0.01257911
+v 0.07479064 -0.08740971 0.01086236
+v 0.07479064 -0.08732648 0.01574379
+v 0.07479064 -0.08858646 0.01336179
+v 0.07558438 -0.08794814 0.01336180
+f 1 2 7
+f 1 7 15
+f 1 15 25
+f 1 25 18
+f 1 18 10
+f 1 10 3
+f 1 3 12
+f 1 12 13
+f 1 13 4
+f 1 4 14
+f 1 14 22
+f 1 22 35
+f 1 35 45
+f 1 45 53
+f 1 53 52
+f 1 52 55
+f 1 55 54
+f 1 54 46
+f 1 46 36
+f 1 36 26
+f 1 26 16
+f 1 16 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 8 9
+f 2 9 5
+f 3 10 11
+f 3 11 12
+f 4 13 14
+f 5 9 17
+f 5 17 29
+f 5 29 38
+f 5 38 49
+f 5 49 40
+f 5 40 31
+f 5 31 19
+f 5 19 15
+f 5 15 7
+f 5 7 6
+f 8 16 9
+f 9 16 17
+f 10 18 19
+f 10 19 11
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 12 24 23
+f 12 23 13
+f 13 23 14
+f 14 23 22
+f 15 19 25
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 30
+f 17 30 29
+f 18 25 19
+f 19 31 20
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 20 31 32
+f 21 34 22
+f 22 34 35
+f 26 36 37
+f 26 37 27
+f 27 37 30
+f 27 30 28
+f 29 30 38
+f 30 37 39
+f 30 39 38
+f 31 40 32
+f 32 40 41
+f 32 41 42
+f 32 42 43
+f 32 43 33
+f 33 43 44
+f 33 44 45
+f 33 45 34
+f 34 45 35
+f 36 46 47
+f 36 47 37
+f 37 47 48
+f 37 48 39
+f 38 39 49
+f 39 48 42
+f 39 42 41
+f 39 41 49
+f 40 49 41
+f 42 48 50
+f 42 50 43
+f 43 50 51
+f 43 51 52
+f 43 52 53
+f 43 53 44
+f 44 53 45
+f 46 54 48
+f 46 48 47
+f 48 54 55
+f 48 55 56
+f 48 56 51
+f 48 51 50
+f 51 56 52
+f 52 56 55
+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_36.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fd1ba7c0c387c4f630c0d3b76a623855077a034
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_36.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.02767707 0.06778321 -0.00241253
+v -0.05216925 0.05174968 -0.00241259
+v -0.02767707 0.07906788 -0.00241249
+v -0.02767707 0.07333284 0.00737989
+v -0.05290776 0.05132655 -0.00241259
+v -0.02887501 0.07873917 -0.00241249
+v -0.02909730 0.08681009 0.00737994
+v -0.02837607 0.08699893 0.00737994
+v -0.02767707 0.08704789 0.00737994
+v -0.05290776 0.05914220 0.00737984
+v -0.05290776 0.06551019 -0.00241254
+v -0.03153269 0.07786143 -0.00241249
+v -0.03496841 0.08507561 0.00737993
+v -0.03188837 0.08603028 0.00737994
+v -0.05290776 0.07493094 0.00737990
+v -0.05260396 0.06576896 -0.00241254
+v -0.03264417 0.07742082 -0.00241250
+v -0.04288959 0.08222209 0.00737992
+v -0.05020068 0.07703262 0.00737990
+v -0.05129488 0.06674112 -0.00241253
+v -0.03955514 0.07421061 -0.00241251
+v -0.04082223 0.07353220 -0.00241251
+v -0.04659701 0.07011918 -0.00241252
+v -0.04723673 0.06969255 -0.00241252
+f 1 2 5
+f 1 5 11
+f 1 11 16
+f 1 16 20
+f 1 20 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 17
+f 1 17 12
+f 1 12 6
+f 1 6 3
+f 1 3 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 4 9 8
+f 4 8 7
+f 4 7 14
+f 4 14 13
+f 4 13 18
+f 4 18 19
+f 4 19 15
+f 4 15 10
+f 4 10 5
+f 5 10 15
+f 5 15 11
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 11 15 16
+f 12 17 18
+f 12 18 13
+f 15 19 16
+f 16 19 20
+f 17 21 18
+f 18 21 22
+f 18 22 23
+f 18 23 24
+f 18 24 19
+f 19 24 20
+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_37.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b617d072118fbd5cec7a79c328c2c8fc7b618e5a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_37.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.05959482 0.05273947 0.00738113
+v 0.07450773 0.02892364 0.00738105
+v 0.07648696 0.02892362 0.01345396
+v 0.07794797 0.02892361 0.01669355
+v 0.06257616 0.05273945 0.01391324
+v 0.08370772 0.05273947 0.00738113
+v 0.09148728 0.02892364 0.00738105
+v 0.07809469 0.02892361 0.01698204
+v 0.06399346 0.05273944 0.01657717
+v 0.08638312 0.05273947 0.00764448
+v 0.08392001 0.05245271 0.00738113
+v 0.09148728 0.03282650 0.00738106
+v 0.09148728 0.02892362 0.01413549
+v 0.07816026 0.02892361 0.01707732
+v 0.06415892 0.05273944 0.01683390
+v 0.08687636 0.05273947 0.00769344
+v 0.08694192 0.05255995 0.00768683
+v 0.08555583 0.04970392 0.00738112
+v 0.08671402 0.04853819 0.00742611
+v 0.09148728 0.03604158 0.00749091
+v 0.08804080 0.04332505 0.00738110
+v 0.09148728 0.05216591 0.01628338
+v 0.08952990 0.02892360 0.01934424
+v 0.08007705 0.02892360 0.01940644
+v 0.06452105 0.05273944 0.01728385
+v 0.08712923 0.05273947 0.00772520
+v 0.08907724 0.05136159 0.00786151
+v 0.08622702 0.04853819 0.00738112
+v 0.08962668 0.04853819 0.00777945
+v 0.09070995 0.04452575 0.00773311
+v 0.09056635 0.04078143 0.00756239
+v 0.08671402 0.04727687 0.00738111
+v 0.09148728 0.03959472 0.00762856
+v 0.09148728 0.05226383 0.01628735
+v 0.08944249 0.02892360 0.01950701
+v 0.09148728 0.05273944 0.01630588
+v 0.06694358 0.05273943 0.01956797
+v 0.08284298 0.02892359 0.02056306
+v 0.08870262 0.05273947 0.00792635
+v 0.09045084 0.05273947 0.00822279
+v 0.09148728 0.05265554 0.00839218
+v 0.09148728 0.05252265 0.00838027
+v 0.09148728 0.04878299 0.00811558
+v 0.09148728 0.04853819 0.00809838
+v 0.09148728 0.04396853 0.00780325
+v 0.08671402 0.02914508 0.02065966
+v 0.08671402 0.02892359 0.02067422
+v 0.08286171 0.03690417 0.02081055
+v 0.09148728 0.05273947 0.00840012
+v 0.07542555 0.05273943 0.02002188
+v 0.07544428 0.05268814 0.02003247
+v 0.07900939 0.04465859 0.02072588
+v 0.06742746 0.05273943 0.01975721
+v 0.08286171 0.02914508 0.02060408
+v 0.08286171 0.03302462 0.02089920
+v 0.07516019 0.04853814 0.02086618
+v 0.07130475 0.05273942 0.02074973
+v 0.07130475 0.05241768 0.02077620
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 15
+f 1 15 25
+f 1 25 37
+f 1 37 53
+f 1 53 57
+f 1 57 50
+f 1 50 36
+f 1 36 49
+f 1 49 40
+f 1 40 39
+f 1 39 26
+f 1 26 16
+f 1 16 10
+f 1 10 6
+f 1 6 11
+f 1 11 18
+f 1 18 28
+f 1 28 32
+f 1 32 21
+f 1 21 12
+f 1 12 7
+f 1 7 2
+f 2 7 13
+f 2 13 23
+f 2 23 35
+f 2 35 47
+f 2 47 38
+f 2 38 24
+f 2 24 14
+f 2 14 8
+f 2 8 4
+f 2 4 3
+f 4 8 5
+f 5 8 9
+f 6 10 11
+f 7 12 20
+f 7 20 33
+f 7 33 45
+f 7 45 44
+f 7 44 43
+f 7 43 42
+f 7 42 41
+f 7 41 49
+f 7 49 36
+f 7 36 34
+f 7 34 22
+f 7 22 13
+f 8 14 15
+f 8 15 9
+f 10 16 17
+f 10 17 11
+f 11 17 19
+f 11 19 18
+f 12 21 20
+f 13 22 23
+f 14 24 25
+f 14 25 15
+f 16 26 17
+f 17 26 27
+f 17 27 19
+f 18 19 28
+f 19 27 29
+f 19 29 30
+f 19 30 31
+f 19 31 21
+f 19 21 32
+f 19 32 28
+f 20 31 33
+f 20 21 31
+f 22 34 23
+f 23 34 36
+f 23 36 35
+f 24 37 25
+f 24 38 37
+f 26 39 27
+f 27 39 40
+f 27 40 41
+f 27 41 42
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 27 45 29
+f 29 45 30
+f 30 45 31
+f 31 45 33
+f 35 46 47
+f 35 36 46
+f 36 48 46
+f 36 50 51
+f 36 51 52
+f 36 52 48
+f 37 38 53
+f 38 47 54
+f 38 54 53
+f 40 49 41
+f 46 48 47
+f 47 48 55
+f 47 55 54
+f 48 52 56
+f 48 56 55
+f 50 57 51
+f 51 57 56
+f 51 56 52
+f 53 58 57
+f 53 54 58
+f 54 55 58
+f 55 56 58
+f 56 57 58
+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_38.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f94f811aebb9addb31b58ac78accb9cc823ef916
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_38.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.06585795 0.03359460 -0.00241266
+v -0.07808261 0.03359460 -0.00241266
+v -0.07244214 0.03359456 0.00737974
+v -0.08029930 0.00008350 0.00737962
+v -0.07468626 0.00008354 -0.00241278
+v -0.08631560 0.03359456 0.00737974
+v -0.07903458 0.03114097 -0.00241267
+v -0.08909469 0.02810998 0.00737972
+v -0.08799732 0.03086211 0.00737973
+v -0.09387372 0.00008350 0.00737962
+v -0.08501248 0.00008354 -0.00241278
+v -0.08065868 0.02680776 -0.00241268
+v -0.09344026 0.01260750 0.00737967
+v -0.08071355 0.02664703 -0.00241268
+v -0.08077116 0.02645677 -0.00241268
+v -0.08134728 0.02450830 -0.00241269
+v -0.09388195 0.00149729 0.00737963
+v -0.08501248 0.00045421 -0.00241278
+v -0.08303173 0.01729831 -0.00241272
+v -0.08359688 0.01442808 -0.00241273
+v -0.08374503 0.01362770 -0.00241273
+v -0.08429645 0.00999974 -0.00241274
+v -0.08432937 0.00975044 -0.00241274
+v -0.08449947 0.00823497 -0.00241275
+v -0.08473266 0.00586991 -0.00241276
+v -0.08487806 0.00372462 -0.00241277
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diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_39.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5b10c5112fbe5e022e49f6b9f81718fa155cc76
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_39.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_4.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9be85defd79f413ab8e7e7bdff3e9f29cc31be3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_4.obj
@@ -0,0 +1,568 @@
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+f 128 153 129
+f 129 155 130
+f 129 153 156
+f 129 156 155
+f 131 157 156
+f 131 156 154
+f 131 154 132
+f 132 154 158
+f 132 158 159
+f 132 159 135
+f 133 136 160
+f 133 160 161
+f 133 161 162
+f 133 162 134
+f 134 162 163
+f 135 159 136
+f 136 164 160
+f 136 159 165
+f 136 165 166
+f 136 166 167
+f 136 167 164
+f 137 168 169
+f 137 169 138
+f 138 170 171
+f 138 171 172
+f 138 172 139
+f 138 169 170
+f 139 172 173
+f 139 173 140
+f 140 174 142
+f 140 142 141
+f 140 173 175
+f 140 175 176
+f 140 176 174
+f 142 174 176
+f 142 176 177
+f 143 177 146
+f 143 146 145
+f 143 145 144
+f 146 178 179
+f 146 179 180
+f 146 180 181
+f 146 181 147
+f 146 177 178
+f 147 181 180
+f 147 180 148
+f 148 180 182
+f 148 182 183
+f 148 183 184
+f 148 184 152
+f 149 150 185
+f 149 185 158
+f 149 158 151
+f 150 152 186
+f 150 186 165
+f 150 165 185
+f 151 158 154
+f 152 184 187
+f 152 187 186
+f 153 154 156
+f 155 156 157
+f 158 185 159
+f 159 185 165
+f 160 164 161
+f 161 188 172
+f 161 172 170
+f 161 170 162
+f 161 164 167
+f 161 167 188
+f 162 170 163
+f 163 170 169
+f 163 169 168
+f 165 186 166
+f 166 186 167
+f 167 186 189
+f 167 189 190
+f 167 190 188
+f 170 172 171
+f 172 188 190
+f 172 190 173
+f 173 190 182
+f 173 182 175
+f 175 177 176
+f 175 182 178
+f 175 178 177
+f 178 182 180
+f 178 180 179
+f 182 190 189
+f 182 189 183
+f 183 189 184
+f 184 189 187
+f 186 187 189
+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_40.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1076dd31041c7b12a12fd3566dd65c79b5153281
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_40.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.03125210 0.03746167 -0.01348137
+v -0.03188230 0.03603827 -0.01348138
+v -0.05969778 0.00008360 -0.01901733
+v -0.04236028 0.03746169 -0.01817006
+v -0.05197953 0.03746167 -0.01348137
+v -0.04919902 0.00008358 -0.01348151
+v -0.05727739 0.00008360 -0.01786480
+v -0.06148104 0.00008360 -0.01877313
+v -0.05969778 0.00975104 -0.01921602
+v -0.04412970 0.03746169 -0.01859671
+v -0.04409161 0.03671157 -0.01852430
+v -0.05246430 0.03695671 -0.01348137
+v -0.05103076 0.03746168 -0.01578866
+v -0.06626297 0.00008358 -0.01348151
+v -0.06320545 0.00008360 -0.01853622
+v -0.06320891 0.00199367 -0.01853396
+v -0.06306694 0.00587235 -0.01851543
+v -0.05969778 0.01362973 -0.01914583
+v -0.05584385 0.02138344 -0.01911942
+v -0.05198992 0.02914081 -0.01900206
+v -0.04848918 0.03725312 -0.01859671
+v -0.04840954 0.03746169 -0.01855854
+v -0.05869707 0.02902736 -0.01348140
+v -0.05099613 0.03619563 -0.01809484
+v -0.04869694 0.03746169 -0.01835644
+v -0.06662655 0.00177776 -0.01348150
+v -0.06279685 0.00975104 -0.01843232
+v -0.06235710 0.01362973 -0.01814264
+v -0.05915414 0.02138344 -0.01843902
+v -0.05584385 0.02526213 -0.01889935
+v -0.05216651 0.03311829 -0.01854396
+v -0.05445186 0.03188883 -0.01789837
+v -0.05905027 0.02850776 -0.01348141
+v -0.06351016 0.01755962 -0.01348145
+v -0.06192773 0.01656801 -0.01774236
+v -0.05830925 0.02526213 -0.01789054
+v -0.05577806 0.02880051 -0.01814988
+v -0.05781756 0.02728196 -0.01743974
+v -0.06249560 0.02101385 -0.01348143
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 22
+f 1 22 25
+f 1 25 13
+f 1 13 5
+f 1 5 12
+f 1 12 23
+f 1 23 33
+f 1 33 39
+f 1 39 34
+f 1 34 26
+f 1 26 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 6
+f 3 6 14
+f 3 14 15
+f 3 15 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 10
+f 5 13 12
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 12 13 24
+f 12 24 23
+f 13 25 24
+f 14 26 15
+f 15 26 16
+f 16 26 17
+f 17 27 18
+f 17 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 19 30 20
+f 20 30 21
+f 21 31 24
+f 21 24 22
+f 21 30 31
+f 22 24 25
+f 23 32 33
+f 23 24 32
+f 24 31 32
+f 26 34 28
+f 26 28 27
+f 28 34 35
+f 28 35 29
+f 29 36 37
+f 29 37 30
+f 29 35 36
+f 30 37 31
+f 31 37 32
+f 32 37 36
+f 32 36 38
+f 32 38 33
+f 33 38 39
+f 34 39 35
+f 35 39 38
+f 35 38 36
+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_41.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..817e0a20f4258ca81544d8c27e18a0d3f8e63222
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_41.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.09529545 -0.00373858 0.01380738
+v 0.09529545 -0.00373856 0.00738093
+v 0.09529545 -0.00187784 0.01384449
+v 0.09432887 -0.00188744 0.01697886
+v 0.09343554 -0.00373860 0.01966129
+v 0.08032057 -0.00373856 0.00738093
+v 0.09529545 0.02221599 0.00738102
+v 0.09529545 0.02640745 0.01398773
+v 0.09433090 0.00199072 0.01697888
+v 0.09345996 0.00199071 0.01968914
+v 0.09345996 -0.00188745 0.01967720
+v 0.09208029 -0.00373860 0.02023118
+v 0.08201972 -0.00373858 0.01336340
+v 0.07450684 0.02892364 0.00738105
+v 0.09442044 0.02486644 0.00738103
+v 0.09442044 0.02892364 0.00751888
+v 0.09529545 0.02892364 0.00762358
+v 0.09529545 0.02892362 0.01352653
+v 0.09284135 0.01750653 0.01917630
+v 0.09310792 0.01362518 0.01942810
+v 0.09328496 0.00975022 0.01957652
+v 0.09338874 0.00587206 0.01965602
+v 0.09056836 0.00587205 0.02086206
+v 0.09056836 0.00199070 0.02088855
+v 0.09056836 -0.00188746 0.02086998
+v 0.09056836 -0.00373861 0.02085540
+v 0.08333020 -0.00373859 0.01697886
+v 0.07648884 0.02892362 0.01345364
+v 0.09291257 0.02892364 0.00738105
+v 0.09427596 0.02526289 0.00738103
+v 0.08944306 0.02892360 0.01950768
+v 0.09262768 0.02004188 0.01894570
+v 0.09000062 0.02526285 0.01982043
+v 0.09056836 0.01750653 0.02037836
+v 0.09056836 0.01362517 0.02064739
+v 0.09056836 0.00975021 0.02078919
+v 0.08671424 0.02526284 0.02091912
+v 0.08671424 0.02138468 0.02090453
+v 0.08873084 -0.00373861 0.02061419
+v 0.08447585 -0.00373860 0.01910466
+v 0.07809642 0.02892361 0.01698163
+v 0.07795194 0.02892361 0.01669403
+v 0.08671424 0.02892359 0.02067395
+v 0.08284589 0.02892359 0.02056263
+v 0.08671424 -0.00373860 0.02029744
+v 0.08562760 -0.00373860 0.01972888
+v 0.08007842 0.02892360 0.01940695
+v 0.07816357 0.02892361 0.01707705
+f 1 2 7
+f 1 7 17
+f 1 17 18
+f 1 18 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 26
+f 1 26 39
+f 1 39 45
+f 1 45 46
+f 1 46 40
+f 1 40 27
+f 1 27 13
+f 1 13 6
+f 1 6 2
+f 2 6 14
+f 2 14 29
+f 2 29 30
+f 2 30 15
+f 2 15 7
+f 3 8 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 4 8 9
+f 5 11 12
+f 6 13 14
+f 7 15 16
+f 7 16 17
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 10
+f 8 10 9
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 13 27 28
+f 13 28 14
+f 14 28 42
+f 14 42 41
+f 14 41 48
+f 14 48 47
+f 14 47 44
+f 14 44 43
+f 14 43 31
+f 14 31 18
+f 14 18 17
+f 14 17 16
+f 14 16 29
+f 15 30 16
+f 16 30 29
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 35 21
+f 20 34 35
+f 21 35 36
+f 21 36 22
+f 22 36 23
+f 23 36 37
+f 23 37 24
+f 24 37 38
+f 24 38 25
+f 25 38 26
+f 26 38 39
+f 27 40 41
+f 27 41 42
+f 27 42 28
+f 31 43 33
+f 31 33 32
+f 33 43 34
+f 34 43 35
+f 35 43 37
+f 35 37 36
+f 37 43 44
+f 37 44 38
+f 38 44 39
+f 39 44 45
+f 40 46 47
+f 40 47 48
+f 40 48 41
+f 44 47 45
+f 45 47 46
+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_42.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8737b31ed067bb12dc3dacf024637c3dc2f0ac9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_42.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.05257073 -0.07470909 0.00737935
+v -0.05591320 -0.07262945 0.00737935
+v -0.05257073 -0.06573328 -0.00245408
+v -0.05257073 -0.05915747 0.00737940
+v -0.05969889 -0.06960979 0.00737936
+v -0.05365046 -0.06497629 -0.00245408
+v -0.05323723 -0.06530072 -0.00245408
+v -0.05257073 -0.05189114 -0.00245403
+v -0.06589394 -0.03334899 -0.00245396
+v -0.07315205 -0.03221770 0.00737950
+v -0.06355455 -0.06604943 0.00737938
+v -0.05748946 -0.06175700 -0.00245407
+v -0.06703031 -0.03221766 -0.00245396
+v -0.08661188 -0.03221770 0.00737950
+v -0.06938636 -0.06016818 0.00737940
+v -0.06165171 -0.05777655 -0.00245405
+v -0.06127514 -0.05815088 -0.00245405
+v -0.07863729 -0.03221766 -0.00245396
+v -0.08556216 -0.03680125 0.00737948
+v -0.07291211 -0.05626260 0.00737941
+v -0.06522078 -0.05395415 -0.00245404
+v -0.07840069 -0.03292474 -0.00245396
+v -0.08149655 -0.04455834 0.00737946
+v -0.07731430 -0.03559917 -0.00245397
+v -0.07681443 -0.03665979 -0.00245397
+v -0.07597132 -0.05233622 0.00737943
+v -0.06911644 -0.04908361 -0.00245402
+v -0.07341532 -0.04298608 -0.00245400
+v -0.07302542 -0.04357670 -0.00245400
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 10
+f 1 10 14
+f 1 14 19
+f 1 19 23
+f 1 23 26
+f 1 26 20
+f 1 20 15
+f 1 15 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 6
+f 3 6 12
+f 3 12 17
+f 3 17 16
+f 3 16 21
+f 3 21 27
+f 3 27 29
+f 3 29 28
+f 3 28 25
+f 3 25 24
+f 3 24 22
+f 3 22 18
+f 3 18 13
+f 3 13 9
+f 3 9 8
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 9 13 10
+f 10 13 18
+f 10 18 14
+f 11 15 16
+f 11 16 17
+f 11 17 12
+f 14 18 19
+f 15 20 21
+f 15 21 16
+f 18 22 19
+f 19 22 24
+f 19 24 25
+f 19 25 23
+f 20 26 27
+f 20 27 21
+f 23 25 28
+f 23 28 29
+f 23 29 27
+f 23 27 26
+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_43.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8677cee88b2a079294b6d3cbd2ae5f2023d0a178
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_43.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.03823406 -0.04992157 -0.01357780
+v -0.04050264 -0.04891324 -0.01357780
+v -0.03823406 -0.04962298 -0.01558459
+v -0.03823406 -0.03177170 -0.01357774
+v -0.04393964 -0.04713155 -0.01357779
+v -0.03823406 -0.04942719 -0.01606446
+v -0.03823406 -0.04118435 -0.01822550
+v -0.05064438 0.00007868 -0.01357762
+v -0.03975464 -0.04747905 -0.01812285
+v -0.04738483 -0.04379330 -0.01357778
+v -0.04626009 -0.04266259 -0.01743048
+v -0.04232351 -0.04645116 -0.01690340
+v -0.03823406 -0.04806153 -0.01836884
+v -0.03823406 -0.04231016 -0.01863071
+v -0.05727815 0.00007870 -0.01786462
+v -0.06612043 0.00007868 -0.01357762
+v -0.04428634 -0.04358770 -0.01796197
+v -0.04428634 -0.04067530 -0.01898484
+v -0.04079748 -0.04491908 -0.01866201
+v -0.04809188 -0.04307866 -0.01357778
+v -0.05151251 -0.03936841 -0.01357776
+v -0.05004652 -0.03871739 -0.01703844
+v -0.05101839 -0.03613293 -0.01811457
+v -0.04719646 -0.04067530 -0.01795702
+v -0.03823406 -0.04726368 -0.01863017
+v -0.03823406 -0.04452750 -0.01865817
+v -0.05969688 0.00007870 -0.01901763
+v -0.06612043 -0.00082196 -0.01357762
+v -0.06513493 0.00007869 -0.01533349
+v -0.04851230 -0.03717552 -0.01865046
+v -0.05217861 -0.03303943 -0.01859004
+v -0.05584492 -0.02515882 -0.01905945
+v -0.05199297 -0.02904039 -0.01914403
+v -0.05969688 -0.00964724 -0.01918623
+v -0.05901712 -0.02838940 -0.01357772
+v -0.05785417 -0.02724401 -0.01748862
+v -0.05449360 -0.03183041 -0.01793667
+v -0.06148226 0.00007870 -0.01877276
+v -0.06428045 -0.01253518 -0.01357767
+v -0.06513493 -0.00169811 -0.01533350
+v -0.06277625 -0.00964724 -0.01842799
+v -0.06458621 -0.00577058 -0.01557510
+v -0.06420674 0.00007869 -0.01687688
+v -0.05580398 -0.02873691 -0.01826939
+v -0.05832644 -0.02515882 -0.01793939
+v -0.05911267 -0.02128704 -0.01845549
+v -0.05969688 -0.01352881 -0.01912475
+v -0.05584492 -0.02128704 -0.01917804
+v -0.06303833 -0.00577057 -0.01851637
+v -0.06320485 -0.00188900 -0.01853832
+v -0.06320758 0.00007870 -0.01853612
+v -0.05931741 -0.02769923 -0.01357772
+v -0.06194908 -0.01640204 -0.01775927
+v -0.06237222 -0.01352881 -0.01815512
+v -0.06410028 -0.01352883 -0.01357767
+v -0.06316936 -0.01751318 -0.01357768
+v -0.06339868 -0.01672023 -0.01357768
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 25
+f 1 25 26
+f 1 26 14
+f 1 14 7
+f 1 7 4
+f 1 4 8
+f 1 8 16
+f 1 16 28
+f 1 28 39
+f 1 39 55
+f 1 55 57
+f 1 57 56
+f 1 56 52
+f 1 52 35
+f 1 35 21
+f 1 21 20
+f 1 20 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 5 9 6
+f 5 10 11
+f 5 11 12
+f 5 12 9
+f 6 9 13
+f 7 14 8
+f 8 15 27
+f 8 27 38
+f 8 38 51
+f 8 51 43
+f 8 43 29
+f 8 29 16
+f 8 14 15
+f 9 12 11
+f 9 11 17
+f 9 17 18
+f 9 18 19
+f 9 19 13
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 17
+f 13 19 25
+f 14 26 18
+f 14 18 27
+f 14 27 15
+f 16 29 40
+f 16 40 28
+f 17 24 18
+f 18 26 25
+f 18 25 19
+f 18 24 23
+f 18 23 30
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 27
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 22 37 23
+f 23 37 31
+f 23 31 30
+f 27 34 38
+f 28 40 41
+f 28 41 42
+f 28 42 39
+f 29 43 40
+f 31 37 44
+f 31 44 32
+f 32 44 45
+f 32 45 46
+f 32 46 47
+f 32 47 48
+f 32 48 33
+f 33 48 34
+f 34 48 47
+f 34 47 49
+f 34 49 50
+f 34 50 51
+f 34 51 38
+f 35 52 36
+f 36 44 37
+f 36 52 53
+f 36 53 45
+f 36 45 44
+f 39 54 55
+f 39 42 54
+f 40 43 51
+f 40 51 50
+f 40 50 49
+f 40 49 41
+f 41 47 54
+f 41 54 42
+f 41 49 47
+f 45 53 46
+f 46 53 54
+f 46 54 47
+f 52 56 53
+f 53 56 57
+f 53 57 55
+f 53 55 54
+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_44.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaf278b9aac18524ad1e79ae92d92d2cc0c08e54
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_44.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.00194743 0.06428776 -0.01348125
+v 0.00194743 0.06223460 -0.01753102
+v -0.00190663 0.06223197 -0.01752885
+v -0.00190663 0.06428250 -0.01348125
+v 0.00232486 0.06426675 -0.01348125
+v 0.00232486 0.06222672 -0.01752233
+v 0.00232486 0.06203506 -0.01762124
+v 0.00194743 0.06017619 -0.01854578
+v -0.00190663 0.06017619 -0.01855067
+v -0.00604775 0.06055690 -0.01826424
+v -0.00960944 0.05996090 -0.01846317
+v -0.00495267 0.06216896 -0.01745167
+v -0.00581917 0.06418798 -0.01348125
+v 0.00232486 0.04961104 -0.01348131
+v 0.00232486 0.06017619 -0.01853709
+v -0.01346350 0.05629566 -0.01898822
+v -0.01731756 0.05629566 -0.01900126
+v -0.01346350 0.05958807 -0.01841588
+v -0.00752559 0.06210333 -0.01734568
+v -0.00933301 0.06365763 -0.01348126
+v -0.03125065 0.03746533 -0.01348135
+v -0.04235566 0.03746535 -0.01817029
+v 0.00232486 0.05461531 -0.01716037
+v 0.00232486 0.05981125 -0.01853165
+v 0.00232486 0.05655296 -0.01839796
+v -0.04428535 0.04078140 -0.01891707
+v -0.03272317 0.04853984 -0.01903336
+v -0.01731756 0.05911285 -0.01817945
+v -0.02886911 0.05241775 -0.01890345
+v -0.02502036 0.05576267 -0.01838383
+v -0.02034764 0.05862451 -0.01779083
+v -0.02386149 0.05960381 -0.01348127
+v -0.05198284 0.03746533 -0.01348135
+v -0.04412587 0.03746535 -0.01859695
+v 0.00232486 0.05636392 -0.01828708
+v -0.04840521 0.03746535 -0.01855836
+v -0.04716659 0.04078140 -0.01795287
+v -0.04428535 0.04371936 -0.01794797
+v -0.03977211 0.04761828 -0.01809688
+v -0.04080340 0.04503738 -0.01859584
+v -0.03675797 0.04876301 -0.01856158
+v -0.03242016 0.05240200 -0.01823872
+v -0.02886911 0.05491725 -0.01789684
+v -0.03093701 0.05443415 -0.01747452
+v -0.02291525 0.05814665 -0.01687338
+v -0.03215968 0.05568126 -0.01348129
+v -0.05085054 0.04044531 -0.01348134
+v -0.05103128 0.03746534 -0.01578859
+v -0.04869227 0.03746535 -0.01835672
+v -0.04999999 0.03878336 -0.01685225
+v -0.04626819 0.04277942 -0.01744195
+v -0.04233971 0.04657856 -0.01725334
+v -0.03559378 0.05109973 -0.01796425
+v -0.04319558 0.04818012 -0.01348131
+v -0.04691674 0.04459890 -0.01348133
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 20
+f 1 20 32
+f 1 32 46
+f 1 46 54
+f 1 54 55
+f 1 55 47
+f 1 47 33
+f 1 33 21
+f 1 21 14
+f 1 14 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 5 14 23
+f 5 23 35
+f 5 35 25
+f 5 25 24
+f 5 24 15
+f 5 15 7
+f 5 7 6
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 11
+f 9 11 10
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 12 19 13
+f 13 19 20
+f 14 21 22
+f 14 22 23
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 17 28 18
+f 17 27 29
+f 17 29 30
+f 17 30 28
+f 18 28 19
+f 19 28 31
+f 19 31 20
+f 20 31 32
+f 21 33 48
+f 21 48 49
+f 21 49 36
+f 21 36 34
+f 21 34 22
+f 22 34 25
+f 22 25 35
+f 22 35 23
+f 25 34 26
+f 26 34 36
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 26 41 29
+f 26 29 27
+f 28 30 31
+f 29 41 42
+f 29 42 30
+f 30 42 43
+f 30 43 31
+f 31 43 44
+f 31 44 45
+f 31 45 32
+f 32 44 46
+f 32 45 44
+f 33 47 48
+f 36 49 50
+f 36 50 37
+f 37 51 38
+f 37 50 51
+f 38 51 39
+f 39 41 40
+f 39 51 52
+f 39 52 53
+f 39 53 41
+f 41 53 42
+f 42 53 43
+f 43 53 44
+f 44 53 46
+f 46 53 54
+f 47 50 48
+f 47 55 51
+f 47 51 50
+f 48 50 49
+f 51 55 54
+f 51 54 52
+f 52 54 53
+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_45.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..754b7b738eb252301992be40396776fbea9e8a93
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_45.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.05088795 0.05446907 -0.00241795
+v 0.05615412 0.05446905 0.00401688
+v 0.06541031 0.05446907 -0.00241795
+v 0.06864189 0.02882018 -0.00241804
+v 0.07401029 0.02716582 0.00401678
+v 0.06894856 0.05446905 0.00401688
+v 0.06850999 0.05446905 0.00314496
+v 0.07102602 0.05233097 0.00401687
+v 0.06598408 0.05384368 -0.00241795
+v 0.06994772 0.02716584 -0.00241805
+v 0.08457230 0.02716582 0.00401678
+v 0.07181742 0.05127530 0.00401687
+v 0.06911014 0.05013947 -0.00241797
+v 0.08130773 0.02716584 -0.00241805
+v 0.08112307 0.02781528 -0.00241805
+v 0.08431179 0.02804511 0.00401678
+v 0.07513144 0.04683078 0.00401685
+v 0.07314963 0.04412880 -0.00241799
+v 0.08070758 0.02892441 -0.00241804
+v 0.08205957 0.03465443 0.00401681
+v 0.08330604 0.03124688 0.00401679
+v 0.07816848 0.04225529 0.00401684
+v 0.07363436 0.04336711 -0.00241799
+v 0.08035805 0.02977697 -0.00241804
+v 0.07903573 0.03283709 -0.00241803
+v 0.07757492 0.03606291 -0.00241802
+v 0.07685935 0.03747671 -0.00241801
+v 0.07660545 0.03794709 -0.00241801
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 9
+f 1 9 13
+f 1 13 18
+f 1 18 23
+f 1 23 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 19
+f 1 19 15
+f 1 15 14
+f 1 14 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 16
+f 2 16 21
+f 2 21 20
+f 2 20 22
+f 2 22 17
+f 2 17 12
+f 2 12 8
+f 2 8 6
+f 3 7 8
+f 3 8 9
+f 4 10 5
+f 5 10 14
+f 5 14 11
+f 6 8 7
+f 8 12 13
+f 8 13 9
+f 11 14 15
+f 11 15 16
+f 12 17 13
+f 13 17 18
+f 15 19 20
+f 15 20 21
+f 15 21 16
+f 17 22 18
+f 18 22 23
+f 19 24 20
+f 20 24 25
+f 20 25 26
+f 20 26 27
+f 20 27 22
+f 22 27 28
+f 22 28 23
+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_46.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84458c2a0ca6c8c6a3069c6f0206a0f2e84789fd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_46.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.07350570 0.02843698 0.00401741
+v 0.07350570 0.02920397 0.00491197
+v 0.05796896 0.05446648 0.00737982
+v 0.05693442 0.05446649 0.00549954
+v 0.05615300 0.05446650 0.00401751
+v 0.07350570 0.04863375 0.00401749
+v 0.07350570 0.03133932 0.00737282
+v 0.07350570 0.05446648 0.00737982
+v 0.07343266 0.03151770 0.00737974
+v 0.06894796 0.05446650 0.00401751
+v 0.07181715 0.05127365 0.00401750
+v 0.07350570 0.05446649 0.00639311
+v 0.07350570 0.03154318 0.00737974
+v 0.07102723 0.05233114 0.00401750
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 14
+f 1 14 11
+f 1 11 6
+f 1 6 12
+f 1 12 8
+f 1 8 13
+f 1 13 7
+f 1 7 2
+f 2 7 3
+f 3 8 12
+f 3 12 10
+f 3 10 5
+f 3 5 4
+f 3 7 9
+f 3 9 13
+f 3 13 8
+f 6 11 12
+f 7 13 9
+f 10 12 14
+f 11 14 12
+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_47.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f871d956a421d0ebb4f864cf2bce7862a4e6cb6d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_47.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.08888283 -0.00188239 0.00401667
+v 0.08866784 -0.00505530 0.00401666
+v 0.08534105 -0.00505528 -0.00241817
+v 0.08538367 -0.00428255 -0.00241817
+v 0.08540777 -0.00380945 -0.00241816
+v 0.08550229 -0.00188552 -0.00241816
+v 0.08550414 -0.00019499 -0.00241815
+v 0.08550599 0.00199073 -0.00241814
+v 0.08886245 0.00199071 0.00401669
+v 0.07915635 -0.00505530 0.00401666
+v 0.07498257 -0.00505528 -0.00241817
+v 0.08529842 0.00587013 -0.00241813
+v 0.08885874 0.00204117 0.00401669
+v 0.07401140 0.02716582 0.00401678
+v 0.06994882 0.02716584 -0.00241805
+v 0.08863633 0.00492707 0.00401670
+v 0.08506304 0.00889165 -0.00241812
+v 0.08457190 0.02716582 0.00401678
+v 0.08130997 0.02716584 -0.00241805
+v 0.08489624 0.01067996 -0.00241811
+v 0.08843061 0.00706232 0.00401671
+v 0.08601938 0.02351982 0.00401677
+v 0.08195123 0.02526399 -0.00241806
+v 0.08811369 0.00974951 0.00401672
+v 0.08457931 0.01311799 -0.00241810
+v 0.08734454 0.01589663 0.00401674
+v 0.08650867 0.02123948 0.00401676
+v 0.08337833 0.01958681 -0.00241808
+v 0.08302804 0.02118588 -0.00241807
+v 0.08450703 0.01362578 -0.00241810
+v 0.08681818 0.01957103 0.00401675
+v 0.08382128 0.01750518 -0.00241809
+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 13
+f 1 13 16
+f 1 16 21
+f 1 21 24
+f 1 24 26
+f 1 26 31
+f 1 31 27
+f 1 27 22
+f 1 22 18
+f 1 18 14
+f 1 14 10
+f 1 10 2
+f 2 10 11
+f 2 11 3
+f 3 11 15
+f 3 15 19
+f 3 19 23
+f 3 23 29
+f 3 29 28
+f 3 28 32
+f 3 32 30
+f 3 30 25
+f 3 25 20
+f 3 20 17
+f 3 17 12
+f 3 12 8
+f 3 8 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 8 12 9
+f 9 12 13
+f 10 14 11
+f 11 14 15
+f 12 16 13
+f 12 17 16
+f 14 18 19
+f 14 19 15
+f 16 17 20
+f 16 20 21
+f 18 22 19
+f 19 22 23
+f 20 24 21
+f 20 25 26
+f 20 26 24
+f 22 27 28
+f 22 28 29
+f 22 29 23
+f 25 30 26
+f 26 30 31
+f 27 31 32
+f 27 32 28
+f 30 32 31
+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_48.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..064bc6bbf580267db3dd7665543f468da3bfa5e5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_48.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.10018562 -0.00188566 0.00737961
+v 0.10014905 -0.00423960 0.00737960
+v 0.08888159 -0.00187981 0.00401730
+v 0.08886331 0.00199486 0.00401732
+v 0.10015689 -0.00036492 0.00737962
+v 0.10011249 -0.00505532 0.00737960
+v 0.08868570 -0.00480476 0.00401729
+v 0.10008637 0.00199484 0.00737963
+v 0.08863608 0.00492563 0.00401733
+v 0.09994011 0.00587535 0.00737964
+v 0.08025469 -0.00505532 0.00737960
+v 0.08866742 -0.00505530 0.00401729
+v 0.08842974 0.00706399 0.00401734
+v 0.09962669 0.00975002 0.00737966
+v 0.07915772 -0.00505530 0.00401729
+v 0.07350570 0.03154144 0.00737974
+v 0.07350570 0.03133750 0.00737282
+v 0.08811371 0.00975004 0.00401735
+v 0.08780029 0.01226712 0.00401736
+v 0.08734321 0.01590291 0.00401737
+v 0.08682085 0.01957366 0.00401738
+v 0.08651004 0.02124006 0.00401739
+v 0.09883791 0.01363053 0.00737967
+v 0.07350570 0.02919916 0.00491197
+v 0.07350570 0.02843589 0.00401741
+v 0.07350570 0.05446903 0.00737982
+v 0.08602163 0.02352408 0.00401740
+v 0.09827375 0.01546590 0.00737968
+v 0.07350570 0.04863082 0.00401749
+v 0.08232588 0.05446903 0.00737982
+v 0.07350570 0.05446904 0.00639311
+v 0.08330793 0.03124430 0.00401742
+v 0.08671637 0.04727320 0.00737979
+v 0.07428665 0.04785588 0.00401749
+v 0.08286391 0.05388637 0.00737982
+v 0.08206469 0.03464702 0.00401744
+v 0.08623057 0.04853757 0.00737980
+v 0.07513550 0.04683040 0.00401748
+v 0.08392171 0.05245303 0.00737981
+v 0.07817045 0.04225654 0.00401747
+v 0.08555933 0.04970289 0.00737980
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 8
+f 1 8 10
+f 1 10 14
+f 1 14 23
+f 1 23 28
+f 1 28 33
+f 1 33 37
+f 1 37 41
+f 1 41 39
+f 1 39 35
+f 1 35 30
+f 1 30 26
+f 1 26 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 12
+f 3 12 15
+f 3 15 25
+f 3 25 29
+f 3 29 34
+f 3 34 38
+f 3 38 40
+f 3 40 36
+f 3 36 32
+f 3 32 27
+f 3 27 22
+f 3 22 21
+f 3 21 20
+f 3 20 19
+f 3 19 18
+f 3 18 13
+f 3 13 9
+f 3 9 4
+f 4 8 5
+f 4 9 10
+f 4 10 8
+f 6 11 15
+f 6 15 12
+f 6 12 7
+f 9 13 14
+f 9 14 10
+f 11 16 17
+f 11 17 15
+f 13 18 14
+f 14 18 19
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 15 17 24
+f 15 24 25
+f 16 26 31
+f 16 31 29
+f 16 29 25
+f 16 25 24
+f 16 24 17
+f 22 27 23
+f 23 27 28
+f 26 30 31
+f 27 32 28
+f 28 32 33
+f 29 31 30
+f 29 30 34
+f 30 35 34
+f 32 36 33
+f 33 36 37
+f 34 35 38
+f 35 39 38
+f 36 40 37
+f 37 40 41
+f 38 39 40
+f 39 41 40
+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_49.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20ae64cff06402612248c5a07fa6d2caa65186c1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_49.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.08459579 -0.00373856 0.00738093
+v 0.08459579 -0.00373860 0.01916943
+v 0.09570894 -0.00373856 0.00738093
+v 0.08459579 -0.04670733 0.00738077
+v 0.08562932 -0.00373860 0.01972838
+v 0.08459579 -0.02729657 0.02075061
+v 0.09570894 -0.00373858 0.01359183
+v 0.09570894 -0.03087584 0.00738083
+v 0.08782692 -0.04670733 0.00738077
+v 0.08459579 -0.04670735 0.01250430
+v 0.08671615 -0.00373860 0.02029796
+v 0.08459579 -0.03117452 0.02068554
+v 0.08671615 -0.02128616 0.02094314
+v 0.09343626 -0.00373860 0.01966200
+v 0.09570894 -0.04670736 0.01510523
+v 0.09570894 -0.03291997 0.00750563
+v 0.09504857 -0.03291997 0.00738082
+v 0.08992662 -0.04670733 0.00769809
+v 0.09060549 -0.04218585 0.00738079
+v 0.08459579 -0.03937206 0.01913478
+v 0.08873208 -0.00373861 0.02061394
+v 0.08671615 -0.02903786 0.02044390
+v 0.08671615 -0.02516411 0.02086347
+v 0.08459579 -0.03498097 0.02021286
+v 0.09056850 -0.00964808 0.02077722
+v 0.09056850 -0.00577012 0.02083831
+v 0.09056850 -0.00373861 0.02085558
+v 0.09208180 -0.00373860 0.02023024
+v 0.09340907 -0.00577011 0.01964340
+v 0.08459579 -0.03812708 0.01955698
+v 0.09570894 -0.04670733 0.00913199
+v 0.09329701 -0.00964807 0.01957567
+v 0.09309139 -0.01352602 0.01941899
+v 0.09056850 -0.01740819 0.02032977
+v 0.09570894 -0.03580952 0.00776850
+v 0.09330136 -0.04067589 0.00771802
+v 0.09452310 -0.03663810 0.00760121
+v 0.09445674 -0.03421964 0.00738081
+v 0.09570894 -0.04595445 0.00901249
+v 0.09066097 -0.04449076 0.00760516
+v 0.09275957 -0.04315744 0.00785742
+v 0.09139858 -0.04067589 0.00738079
+v 0.09056850 -0.01352603 0.02063249
+f 1 2 5
+f 1 5 11
+f 1 11 21
+f 1 21 27
+f 1 27 28
+f 1 28 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 38
+f 1 38 42
+f 1 42 19
+f 1 19 9
+f 1 9 4
+f 1 4 10
+f 1 10 20
+f 1 20 30
+f 1 30 24
+f 1 24 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 7 15
+f 3 15 31
+f 3 31 39
+f 3 39 35
+f 3 35 16
+f 3 16 8
+f 4 9 18
+f 4 18 31
+f 4 31 15
+f 4 15 10
+f 5 6 11
+f 6 12 13
+f 6 13 11
+f 7 14 15
+f 8 16 17
+f 9 19 18
+f 10 15 20
+f 11 13 21
+f 12 22 23
+f 12 23 13
+f 12 24 22
+f 13 25 26
+f 13 26 27
+f 13 27 21
+f 13 23 25
+f 14 28 26
+f 14 26 29
+f 14 29 15
+f 15 22 24
+f 15 24 30
+f 15 30 20
+f 15 29 32
+f 15 32 33
+f 15 33 34
+f 15 34 22
+f 16 35 36
+f 16 36 37
+f 16 37 17
+f 17 37 38
+f 18 39 31
+f 18 19 40
+f 18 40 41
+f 18 41 39
+f 19 42 40
+f 22 34 23
+f 23 34 43
+f 23 43 25
+f 25 32 29
+f 25 29 26
+f 25 43 32
+f 26 28 27
+f 32 43 33
+f 33 43 34
+f 35 39 41
+f 35 41 36
+f 36 41 40
+f 36 40 42
+f 36 42 38
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+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_5.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7171e9588971f7df5ede0b06ced1765533984521
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_5.obj
@@ -0,0 +1,595 @@
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diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_50.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..122ce7ed78fdd8999263175b69d8b4ac19f0a686
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_50.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_51.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78e3f7504abeffdee1a9e8a19f458d8a0da6a85f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_51.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.09570894 -0.06705736 0.01336149
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+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_6.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e93d6ac4f016b41be996baf20a47f61fbf5a9c72
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_6.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_7.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ebecd15ba9b77528b66b2e378a313bc1a4a3a81
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_7.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.11714716 -0.00030492 0.01336316
+v -0.11713464 -0.00189047 0.01336315
+v -0.11623735 -0.00189048 0.01577456
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diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_8.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e92ea6b631ef81b6a3d95f38294a1cd497ed887
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_8.obj
@@ -0,0 +1,550 @@
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diff --git a/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_9.obj b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70086209f0d0ca12448b69b9948deb83d3a8a9b2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/8ac3c729ad05564fae3d2056d72b468a/mjcf/mesh/small_saucer_collision_9.obj
@@ -0,0 +1,874 @@
+# https://github.com/mikedh/trimesh
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