diff --git a/.gitattributes b/.gitattributes
index 2a460784835d7dc8e751b980219bf94d089971ee..088f59bc213c48a785da0521bea1390dc758070f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2951,4 +2951,6 @@ dataset/desktop_supplies/decorations/da6bc99c5cc5592f9d3ee980345ced22/mesh/lego_
dataset/desktop_supplies/decorations/e05b6d8397895fdcaab2ac5be75c0dda/e05b6d8397895fdcaab2ac5be75c0dda.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/decorations/e05b6d8397895fdcaab2ac5be75c0dda/mesh/mouse_pad.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/decorations/e05b6d8397895fdcaab2ac5be75c0dda/mesh/mouse_pad_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/e6543d1fa03c51e491ba7075d82cc1c8/e6543d1fa03c51e491ba7075d82cc1c8.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/e5d5d659e6ab5e3bac1172a88ac1b1b3.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mesh/saucer.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mesh/saucer_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/e5d5d659e6ab5e3bac1172a88ac1b1b3.urdf b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/e5d5d659e6ab5e3bac1172a88ac1b1b3.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5ef6388bf9fc1d3bdb1cd4d44bc2bbb03fbded35
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/e5d5d659e6ab5e3bac1172a88ac1b1b3.urdf
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diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/e5d5d659e6ab5e3bac1172a88ac1b1b3.usd b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/e5d5d659e6ab5e3bac1172a88ac1b1b3.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7966f6b698b072524c066ed5745d81d752b66050
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/e5d5d659e6ab5e3bac1172a88ac1b1b3.usd
@@ -0,0 +1,3 @@
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+size 310431
diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mesh/material.mtl b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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+newmtl material_0
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diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mesh/material_0.png b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mesh/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mesh/saucer.glb b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mesh/saucer.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6b2f3f62a1fba9d0999d3fb01287a6e5bedb541d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mesh/saucer.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7791466ac107b6e14a69e8f55f4c24dda89e547d54e8ffa98611ae6462f55fa1
+size 1034464
diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mesh/saucer.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mesh/saucer.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a21537c81c2bf8e7793143cf8b60025013d90e82
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mesh/saucer.obj
@@ -0,0 +1,19694 @@
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diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mesh/saucer_collision.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mesh/saucer_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26027f577c7ecbb725a7e6ff5050c80cb5462c51
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mesh/saucer_collision.obj
@@ -0,0 +1,10503 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mesh/saucer_gs.ply b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mesh/saucer_gs.ply
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diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da96c5727cb8dbd89feb9ca9146dd804ba13d69d
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision.obj
@@ -0,0 +1,10503 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_0.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..601ddd06bba626386e79122f202f46782f24abfd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_0.obj
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diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_1.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c2fa4ef7da7a1986fed77d88ec6533e1e8e7c5a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_1.obj
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diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_10.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4084cbf44ee027168a599396cd5d78972b18e8a9
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_10.obj
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+
diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_11.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9086550128919695501df0212a0dab49b557fe1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_11.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.01706015 0.02011300 -0.02836875
+v -0.01795115 0.02011301 -0.03119270
+v -0.01779009 0.02011300 -0.02647582
+v -0.02607654 0.00460801 -0.02647587
+v -0.02570861 0.00460801 -0.02831814
+v -0.02649470 0.00460802 -0.03126379
+v -0.01923077 0.02011302 -0.03234736
+v -0.02650061 0.00460802 -0.03128047
+v -0.02761178 0.00460803 -0.03278666
+v -0.02547811 0.02011300 -0.02647582
+v -0.03215396 0.00460801 -0.02647587
+v -0.01972872 0.02011302 -0.03278167
+v -0.02771964 0.00460803 -0.03278666
+v -0.02144275 0.01824623 -0.03278661
+v -0.02583865 0.01966983 -0.02647582
+v -0.02521953 0.02011300 -0.02714675
+v -0.02538354 0.01935718 -0.02831809
+v -0.03196187 0.00568407 -0.02647587
+v -0.03215100 0.00460801 -0.02648699
+v -0.01976123 0.02011302 -0.03278167
+v -0.02158460 0.01842987 -0.03278661
+v -0.02924306 0.00460803 -0.03155539
+v -0.02769896 0.00649000 -0.03277863
+v -0.02694538 0.01824773 -0.02647582
+v -0.02476738 0.02011300 -0.02831809
+v -0.02489297 0.01873037 -0.03018322
+v -0.02703699 0.01687268 -0.02854483
+v -0.03161906 0.00757818 -0.02647586
+v -0.03111372 0.00746284 -0.02830083
+v -0.03161315 0.00460801 -0.02833297
+v -0.02019417 0.02011302 -0.03259386
+v -0.02554608 0.01681653 -0.03081029
+v -0.02281102 0.01959851 -0.03123841
+v -0.02147378 0.02011302 -0.03186239
+v -0.02861360 0.01070469 -0.03095302
+v -0.02640161 0.01400572 -0.03126253
+v -0.03090981 0.00460802 -0.03006156
+v -0.02911451 0.00742338 -0.03129653
+v -0.02732069 0.01771349 -0.02647582
+v -0.02262484 0.02011301 -0.03103083
+v -0.02761030 0.01518954 -0.02968343
+v -0.02801960 0.01589071 -0.02770895
+v -0.03134275 0.00881512 -0.02647586
+v -0.03078716 0.00632000 -0.02987561
+v -0.03090833 0.00967415 -0.02730184
+v -0.03053006 0.00835830 -0.02927695
+v -0.02811121 0.01315125 -0.03039391
+v -0.02813781 0.01635817 -0.02647583
+v -0.03015475 0.01069709 -0.02830082
+v -0.02864759 0.01400571 -0.02854484
+v -0.02898448 0.01473270 -0.02647584
+v -0.03098812 0.01007634 -0.02647585
+v -0.03047835 0.01153183 -0.02647585
+v -0.03024488 0.01207669 -0.02647585
+v -0.02947357 0.01371279 -0.02647584
+f 1 2 7
+f 1 7 12
+f 1 12 20
+f 1 20 31
+f 1 31 34
+f 1 34 40
+f 1 40 25
+f 1 25 16
+f 1 16 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
+f 2 9 7
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+f 3 24 39
+f 3 39 48
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+f 3 28 18
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+f 4 22 13
+f 4 13 9
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+f 24 27 39
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+f 33 40 34
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+f 35 47 36
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+f 50 55 51
+
diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_12.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d601e6347af35347ea7c755496195021025f815
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_12.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.01364272 -0.02201399 -0.02851738
+v 0.01364272 -0.02202045 -0.02831789
+v 0.01364272 -0.02292649 -0.03115232
+v -0.00040942 -0.02633502 -0.03127997
+v -0.00040942 -0.02566125 -0.02831790
+v 0.01364272 -0.02238637 -0.02647597
+v 0.01364272 -0.02611933 -0.03111269
+v 0.01076655 -0.02597369 -0.03178861
+v 0.00372947 -0.02744845 -0.03278733
+v 0.00154380 -0.02742356 -0.03280282
+v -0.00040942 -0.02741895 -0.03280468
+v -0.00040942 -0.02672674 -0.03183570
+v -0.00040942 -0.02605851 -0.02647599
+v 0.01364272 -0.02862274 -0.02647600
+v 0.01364272 -0.02642719 -0.03089523
+v 0.01076655 -0.02811210 -0.03063750
+v 0.00372947 -0.02754983 -0.03278733
+v 0.00154380 -0.02758394 -0.03280282
+v -0.00040942 -0.02758763 -0.03280468
+v -0.00040942 -0.03141556 -0.02647601
+v 0.01267712 -0.02899972 -0.02647600
+v 0.01076655 -0.02922094 -0.02831792
+v 0.01364272 -0.02812132 -0.02822993
+v 0.01364272 -0.02753141 -0.02973915
+v 0.01280504 -0.02772497 -0.03014681
+v 0.00773356 -0.03013621 -0.02830491
+v 0.00461805 -0.03040718 -0.02934575
+v 0.00769230 -0.02858402 -0.03110216
+v 0.00469920 -0.02863286 -0.03156435
+v 0.00060158 -0.03059522 -0.02986741
+v -0.00040942 -0.03059522 -0.02986741
+v -0.00040942 -0.03120356 -0.02737372
+v 0.00045990 -0.03142385 -0.02647601
+v 0.01069502 -0.02975461 -0.02647600
+v 0.00871017 -0.03042563 -0.02647600
+v 0.01364272 -0.02798767 -0.02858369
+v 0.00673632 -0.03069385 -0.02730867
+v 0.00461805 -0.03085792 -0.02786441
+v 0.00265108 -0.03052240 -0.02970942
+v -0.00040942 -0.03061273 -0.02979864
+v 0.00159332 -0.03092612 -0.02856078
+v -0.00040942 -0.03091967 -0.02854901
+v 0.00156168 -0.03142938 -0.02647601
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+v 0.00461805 -0.03118420 -0.02647600
+v 0.00715998 -0.03078326 -0.02647600
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+f 38 41 39
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+
diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_13.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1faf5073e6045d5ff1062a303c913856581b8f74
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_13.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.02227021 -0.01388921 -0.02821568
+v -0.02227220 -0.01388921 -0.02820394
+v -0.02304193 -0.01388920 -0.03109279
+v -0.02649573 0.00460802 -0.03126385
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+v -0.02305290 -0.01388920 -0.03109958
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+v -0.03215502 0.00460801 -0.02647587
+v -0.02641098 -0.01388919 -0.03131334
+v -0.02763936 -0.00639325 -0.03277319
+v -0.02762739 -0.00457902 -0.03277998
+v -0.02761144 0.00458992 -0.03278674
+v -0.02772012 0.00460803 -0.03278674
+v -0.02935031 -0.01388921 -0.02647594
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+v -0.02651866 -0.01388920 -0.03127936
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+v -0.02770716 -0.00457902 -0.03277998
+v -0.02762141 0.00153361 -0.03278489
+v -0.02772012 0.00458992 -0.03278674
+v -0.02924362 0.00460803 -0.03155545
+v -0.02772411 0.00153361 -0.03278489
+v -0.02925559 -0.00152271 -0.03174947
+v -0.02926157 0.00153361 -0.03174080
+v -0.02945500 -0.01368823 -0.02647594
+v -0.02900134 -0.01388921 -0.02770784
+v -0.03161861 0.00460801 -0.02831754
+v -0.03162160 0.00458990 -0.02831816
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+v -0.03161362 0.00460801 -0.02833299
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+v -0.03080302 -0.00637697 -0.02990225
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+v -0.03091070 -0.00967411 -0.02732912
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+v -0.03097950 -0.01006701 -0.02647593
+v -0.03162858 -0.00757923 -0.02647592
+f 1 2 6
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+f 1 31 47
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+f 55 59 56
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+f 57 61 58
+f 60 61 64
+f 60 64 62
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+
diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_14.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59da6fa433c0114b3da90de6aa63e96cf4391b30
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_14.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.03234909 0.00153663 -0.02647650
+v 0.03233609 0.00037874 -0.02647651
+v 0.03176675 -0.00120576 -0.02812751
+v 0.03170306 -0.00120576 -0.02831801
+v 0.03173296 0.00153663 -0.02831800
+v 0.03219960 0.00343507 -0.02647650
+v 0.03231529 -0.00120576 -0.02647651
+v 0.03102454 -0.00120575 -0.02992771
+v 0.03094525 -0.00120575 -0.03011513
+v 0.03095954 0.00153664 -0.03013115
+v 0.03087765 0.00393185 -0.02999922
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diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_15.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e943af6fb338bcabc4a6dedc009b42d071e97cdb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_15.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_16.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bcd09c83689f5c0ed2d8157373a586a1ca7f962
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_16.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_17.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ad6229c11af7724d8e1c6bbd0201078703f1a8f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_17.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.03231585 -0.00120844 -0.02647589
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+
diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_18.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe4fac670ca4a66dcd8c6fe98c04b558437fbc27
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_18.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.00153333 0.03215420 -0.02647577
+v -0.00153333 0.03158727 -0.02831773
+v -0.00344250 0.03199155 -0.02647577
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+v -0.00040942 0.03194322 -0.02714799
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+v -0.00040942 0.03079168 -0.03015786
+v -0.00153333 0.03079286 -0.03015909
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+v -0.00040942 0.02670761 -0.02647579
+v -0.00040942 0.02904256 -0.03156032
+v -0.00153333 0.02904256 -0.03157328
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+v -0.00768048 0.02882332 -0.03117081
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+
diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_19.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a5d3d4b30c5ab22f229910f4f6e10db18e10599
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_19.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.04457706 -0.08061850 0.02774854
+v 0.04457706 -0.07962821 0.02641409
+v 0.04457706 -0.08029040 0.03096234
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diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_2.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea64be245ce5bb0ec085b595321d34c8539aa066
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_2.obj
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diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_20.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15bbd5669b4fd0d8bee07226457a7fbf215c2798
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_20.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_21.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2be8cc4c560183360609844eb4023babda8bf44b
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_21.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_22.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b23988667d1ce07d8bcf06d37eb3a975fb30458
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_22.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_23.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a22ef5efd5fcd481a97bff1b8ae2a30dbb4c7a2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_23.obj
@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_24.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73caec1bd439228ed13b040748e4c05a1fb570c7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_24.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_25.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9798b3847e255248da2ca6c3621bf9f8d0e8f6f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_25.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_26.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab1e229f9b0fb096d9913dd7a52868810a9a1a34
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_26.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+v -0.02732031 0.01771240 -0.02647582
+v -0.02478926 0.02111192 -0.02647581
+v -0.02694510 0.01824718 -0.02647582
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 16
+f 1 16 23
+f 1 23 27
+f 1 27 30
+f 1 30 36
+f 1 36 40
+f 1 40 39
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+f 1 46 53
+f 1 53 55
+f 1 55 54
+f 1 54 49
+f 1 49 44
+f 1 44 35
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+f 1 25 19
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+f 4 15 10
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+f 4 8 7
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+f 4 13 9
+f 6 11 7
+f 6 12 11
+f 9 13 14
+f 10 15 16
+f 11 12 18
+f 11 18 17
+f 12 19 18
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 15 22 21
+f 15 21 16
+f 16 21 23
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+f 18 19 25
+f 18 25 24
+f 20 26 21
+f 21 27 23
+f 21 26 27
+f 24 25 28
+f 25 29 28
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+f 26 32 30
+f 28 29 33
+f 28 33 34
+f 29 35 33
+f 30 32 36
+f 31 37 38
+f 31 38 39
+f 31 39 40
+f 31 40 32
+f 32 40 36
+f 33 41 34
+f 33 35 42
+f 33 42 43
+f 33 43 41
+f 35 44 42
+f 37 45 46
+f 37 46 38
+f 37 47 45
+f 41 43 48
+f 42 44 43
+f 43 44 49
+f 43 49 50
+f 43 50 51
+f 43 51 52
+f 43 52 48
+f 45 53 46
+f 45 47 50
+f 45 50 54
+f 45 54 55
+f 45 55 53
+f 49 54 50
+
diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_27.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b6756ae7f14db9885ed67100e28bfbc3fdd8d48
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_27.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.03332031 0.00153656 -0.02370330
+v 0.03331161 0.00087005 -0.02370331
+v 0.03231621 -0.00113479 -0.02647589
+v 0.03233485 0.00037880 -0.02647589
+v 0.03234852 0.00153657 -0.02647588
+v 0.03220064 0.00343520 -0.02647588
+v 0.03308172 0.00459296 -0.02370329
+v 0.03328179 -0.00113480 -0.02370331
+v 0.02670789 -0.00113479 -0.02647589
+v 0.03209128 0.00466732 -0.02647587
+v 0.03161905 0.00764937 -0.02647586
+v 0.03199435 0.00764936 -0.02535499
+v 0.03254735 0.00755377 -0.02370328
+v 0.02640342 -0.00113480 -0.02370331
+v 0.02062485 0.01706553 -0.02647583
+v 0.03103747 0.01011096 -0.02647585
+v 0.03209128 0.00935415 -0.02370328
+v 0.02062485 0.01694603 -0.02370325
+v 0.02062485 0.02495481 -0.02647580
+v 0.03174581 0.01071107 -0.02370327
+v 0.03063732 0.01141212 -0.02647585
+v 0.03132080 0.01234682 -0.02370326
+v 0.02062485 0.02599308 -0.02370321
+v 0.02062485 0.02524160 -0.02589230
+v 0.02126360 0.02455384 -0.02647580
+v 0.03054660 0.01166438 -0.02647585
+v 0.03058264 0.01174405 -0.02632848
+v 0.03106729 0.01296022 -0.02370326
+v 0.02124372 0.02552307 -0.02370322
+v 0.02186010 0.02473175 -0.02465229
+v 0.02062485 0.02552838 -0.02505965
+v 0.02172340 0.02416350 -0.02647580
+v 0.02958350 0.01377279 -0.02647584
+v 0.03010171 0.01368250 -0.02534656
+v 0.03040120 0.01446320 -0.02370326
+v 0.02201916 0.02488045 -0.02370322
+v 0.02321589 0.02307210 -0.02570559
+v 0.02441634 0.02263396 -0.02370323
+v 0.02494449 0.02176829 -0.02478420
+v 0.02420632 0.02182406 -0.02647581
+v 0.02825257 0.01642291 -0.02647583
+v 0.02915850 0.01680794 -0.02370325
+v 0.02511722 0.02194355 -0.02370323
+v 0.02658237 0.02023610 -0.02370324
+v 0.02793070 0.01865081 -0.02370324
+v 0.02619589 0.01995197 -0.02551453
+v 0.02494076 0.02104337 -0.02647581
+v 0.02754920 0.01764972 -0.02647583
+v 0.02744481 0.01799228 -0.02624486
+v 0.02782011 0.01853663 -0.02427018
+v 0.02740007 0.01788075 -0.02647582
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 17
+f 1 17 20
+f 1 20 22
+f 1 22 28
+f 1 28 35
+f 1 35 42
+f 1 42 45
+f 1 45 44
+f 1 44 43
+f 1 43 38
+f 1 38 36
+f 1 36 29
+f 1 29 23
+f 1 23 18
+f 1 18 14
+f 1 14 8
+f 1 8 2
+f 2 8 3
+f 3 8 14
+f 3 14 9
+f 3 9 15
+f 3 15 19
+f 3 19 25
+f 3 25 32
+f 3 32 40
+f 3 40 47
+f 3 47 51
+f 3 51 48
+f 3 48 41
+f 3 41 33
+f 3 33 26
+f 3 26 21
+f 3 21 16
+f 3 16 11
+f 3 11 10
+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 6 10 7
+f 7 10 11
+f 7 11 12
+f 7 12 13
+f 9 14 15
+f 11 16 12
+f 12 16 13
+f 13 16 17
+f 14 18 15
+f 15 18 23
+f 15 23 31
+f 15 31 24
+f 15 24 19
+f 16 20 17
+f 16 21 22
+f 16 22 20
+f 19 24 25
+f 21 26 27
+f 21 27 22
+f 22 27 28
+f 23 29 30
+f 23 30 31
+f 24 30 25
+f 24 31 30
+f 25 30 32
+f 26 33 27
+f 27 33 34
+f 27 34 35
+f 27 35 28
+f 29 36 30
+f 30 37 32
+f 30 36 38
+f 30 38 39
+f 30 39 37
+f 32 37 40
+f 33 41 35
+f 33 35 34
+f 35 41 42
+f 37 39 40
+f 38 43 39
+f 39 43 44
+f 39 44 45
+f 39 45 46
+f 39 46 47
+f 39 47 40
+f 41 48 42
+f 42 48 49
+f 42 49 50
+f 42 50 45
+f 45 50 46
+f 46 50 49
+f 46 49 47
+f 47 49 51
+f 48 51 49
+
diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_28.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba355a2e3acf3abf08ec13b03704d8ff7596fc81
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_28.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00153121 0.03299377 -0.02370319
+v -0.00456994 0.03269224 -0.02370319
+v 0.00006680 0.03298816 -0.02370319
+v -0.00153121 0.03249833 -0.02535490
+v -0.00460611 0.03223716 -0.02535490
+v -0.00768101 0.03169015 -0.02535490
+v -0.00768101 0.03210040 -0.02370319
+v 0.00006680 0.02632662 -0.02370321
+v 0.00006680 0.03249272 -0.02535490
+v -0.00153121 0.03215310 -0.02647577
+v -0.00344378 0.03199169 -0.02647577
+v 0.00006680 0.03214861 -0.02647577
+v -0.00469891 0.03186839 -0.02647577
+v -0.00768101 0.03134941 -0.02647577
+v -0.00999466 0.03078111 -0.02647578
+v -0.00939384 0.03176974 -0.02370319
+v -0.01600134 0.02154260 -0.02647581
+v 0.00006680 0.02670998 -0.02647579
+v -0.01599819 0.02187101 -0.02370323
+v -0.01600134 0.02186877 -0.02370649
+v -0.01072289 0.03140993 -0.02370319
+v -0.01093836 0.03047846 -0.02647578
+v -0.01600134 0.02813577 -0.02647579
+v -0.01600134 0.02187998 -0.02370323
+v -0.01166659 0.03035516 -0.02609338
+v -0.01210698 0.03094251 -0.02370320
+v -0.01149043 0.03027222 -0.02647578
+v -0.01600134 0.02913561 -0.02370320
+v -0.01506864 0.02961424 -0.02370320
+v -0.01376790 0.02925892 -0.02647578
+v -0.01361376 0.02978798 -0.02520565
+v -0.01268736 0.03070712 -0.02370320
+v -0.01419100 0.03003570 -0.02370320
+f 1 2 7
+f 1 7 16
+f 1 16 21
+f 1 21 26
+f 1 26 32
+f 1 32 33
+f 1 33 29
+f 1 29 28
+f 1 28 24
+f 1 24 19
+f 1 19 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 18
+f 3 18 12
+f 3 12 9
+f 4 10 11
+f 4 11 5
+f 4 9 12
+f 4 12 10
+f 5 13 14
+f 5 14 6
+f 5 11 13
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 8 17 18
+f 8 19 20
+f 8 20 17
+f 10 12 18
+f 10 18 17
+f 10 17 23
+f 10 23 30
+f 10 30 27
+f 10 27 22
+f 10 22 15
+f 10 15 14
+f 10 14 13
+f 10 13 11
+f 15 21 16
+f 15 22 21
+f 17 20 24
+f 17 24 28
+f 17 28 23
+f 19 24 20
+f 21 22 25
+f 21 25 26
+f 22 27 25
+f 23 28 29
+f 23 29 30
+f 25 27 30
+f 25 30 31
+f 25 31 32
+f 25 32 26
+f 29 33 31
+f 29 31 30
+f 31 33 32
+
diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_29.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..574ccc6acd8e1f987b0df67bcbd8de94743fac58
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_29.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.00006881 0.03298893 -0.02370319
+v 0.00006881 0.03249277 -0.02535490
+v 0.00006881 0.02632528 -0.02370321
+v 0.00154385 0.03298579 -0.02370319
+v 0.00154385 0.03248649 -0.02535490
+v 0.00154385 0.03214264 -0.02647577
+v 0.00006881 0.03231378 -0.02593732
+v 0.00006881 0.02670840 -0.02647579
+v 0.02062485 0.01706621 -0.02647583
+v 0.02062485 0.01694844 -0.02370325
+v 0.00254801 0.03290100 -0.02370319
+v 0.00461871 0.03222584 -0.02535490
+v 0.00006881 0.03214735 -0.02647577
+v 0.00467103 0.03185216 -0.02647577
+v 0.02062485 0.02495771 -0.02647580
+v 0.02062485 0.02599241 -0.02370321
+v 0.00458450 0.03268746 -0.02370319
+v 0.00769356 0.03167002 -0.02535490
+v 0.00608168 0.03160879 -0.02647577
+v 0.02062485 0.02524190 -0.02589230
+v 0.01825633 0.02670212 -0.02647579
+v 0.02062485 0.02552922 -0.02505965
+v 0.01935305 0.02701771 -0.02370321
+v 0.00601728 0.03242839 -0.02370319
+v 0.00769356 0.03208767 -0.02370319
+v 0.01071810 0.03136384 -0.02370319
+v 0.00889291 0.03104040 -0.02647578
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+v 0.01769287 0.02707896 -0.02647579
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+v 0.01253323 0.03069810 -0.02370320
+v 0.01161963 0.03032599 -0.02601522
+v 0.00992726 0.03075307 -0.02647578
+v 0.01630235 0.02789857 -0.02647579
+v 0.01691007 0.02855173 -0.02370321
+v 0.01329390 0.03039821 -0.02370320
+v 0.01359575 0.02972305 -0.02515870
+v 0.01490578 0.02861298 -0.02647578
+v 0.01206637 0.02993974 -0.02647578
+v 0.01141639 0.03021451 -0.02647578
+f 1 2 7
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+f 1 8 3
+f 1 3 10
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+f 1 16 23
+f 1 23 31
+f 1 31 36
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+f 1 32 26
+f 1 26 25
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+f 1 17 11
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+f 1 4 2
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+f 17 24 18
+f 18 24 25
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+f 18 26 27
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+f 20 29 23
+f 20 23 22
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+f 23 29 31
+f 26 32 33
+f 26 33 34
+f 26 34 27
+f 29 30 35
+f 29 35 36
+f 29 36 31
+f 32 37 33
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+f 33 38 39
+f 33 39 40
+f 33 40 41
+f 33 41 34
+f 35 39 36
+f 36 39 37
+f 37 39 38
+
diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_3.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b57fa4d70765c3fa8106dbae57be8b2349bb8eb1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_3.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v -0.08808370 0.02924746 0.02801734
+v -0.08797933 0.02924746 0.02788498
+v -0.08932572 0.02807112 0.02906319
+v -0.08932572 0.02807112 0.02979225
+v -0.08753576 0.02924745 0.03109416
+v -0.08848032 0.02598492 0.02709081
+v -0.08645551 0.02924746 0.02630317
+v -0.08962840 0.02598492 0.02857281
+v -0.09234205 0.01599606 0.02918900
+v -0.09234205 0.01599606 0.02971844
+v -0.08962840 0.02598491 0.03028698
+v -0.08609543 0.02827803 0.03241775
+v -0.08748879 0.02924745 0.03111803
+v -0.08915351 0.02141565 0.03241339
+v -0.08890824 0.02292931 0.02665683
+v -0.09005632 0.02292931 0.02813665
+v -0.05804564 0.02924752 0.01028113
+v -0.05876581 0.02782175 0.01028112
+v -0.05956946 0.02609269 0.01028112
+v -0.05976256 0.02567602 0.01028111
+v -0.06052446 0.02381657 0.01028111
+v -0.06084280 0.02296622 0.01028110
+v -0.06140118 0.02142424 0.01028110
+v -0.06192826 0.01987092 0.01028109
+v -0.06221006 0.01894970 0.01028109
+v -0.09250904 0.01376246 0.02887654
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+v -0.09250904 0.01376246 0.03004174
+v -0.08987890 0.02263167 0.03109847
+v -0.08605368 0.02827803 0.03241775
+v -0.08482732 0.02924744 0.03212049
+v -0.08920570 0.01987084 0.03243725
+v -0.08923179 0.01681523 0.03244592
+v -0.09270214 0.01070401 0.03036069
+v -0.09284825 0.00764840 0.03055163
+v -0.09294741 0.00459278 0.03065143
+v -0.06278410 0.01695703 0.01028108
+v -0.03969195 0.02924752 0.01028113
+v -0.09270214 0.01070402 0.02857926
+v -0.09124616 0.01376247 0.02739454
+v -0.09149143 0.01070402 0.02709943
+v -0.08995195 0.01070402 0.02609697
+v -0.09168973 0.00764841 0.02691065
+v -0.06289891 0.01650067 0.01028108
+v -0.06337902 0.01440596 0.01028107
+v -0.06353558 0.01367466 0.01028107
+v -0.06405743 0.01070408 0.01028106
+v -0.07203662 0.02924745 0.03042803
+v -0.08477514 0.02924744 0.03211399
+v -0.08903871 0.01681523 0.03244592
+v -0.08605368 0.02744185 0.03241775
+v -0.06597786 0.02924745 0.02961000
+v -0.06895767 0.02924745 0.03002010
+v -0.09068777 0.00764839 0.03192296
+v -0.09068777 0.00459277 0.03200106
+v -0.09068777 0.00153716 0.03202709
+v -0.08919004 0.01488208 0.03242421
+v -0.09068777 0.00028997 0.03201840
+v -0.09284825 0.00764841 0.02839264
+v -0.09294741 0.00459279 0.02829065
+v -0.09299959 0.00153717 0.03070132
+v -0.03969195 0.02924748 0.02130822
+v -0.03969195 0.00029005 0.01028102
+v -0.09180976 0.00459279 0.02680865
+v -0.06427661 0.00904022 0.01028105
+v -0.06445926 0.00764847 0.01028105
+v -0.08910655 0.01488208 0.03242421
+v -0.08761404 0.00028997 0.03180359
+v -0.07838761 0.00028998 0.03058414
+v -0.07656633 0.00028998 0.03032593
+v -0.06472019 0.02924745 0.02942773
+v -0.07531388 0.00028998 0.03014584
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+v -0.05079184 0.02924746 0.02685431
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+v -0.03969195 0.00029001 0.02135151
+v -0.06458450 0.00620286 0.01028104
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+v -0.03969195 0.00459281 0.02134719
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+v -0.06487153 0.00030422 0.01028102
+v -0.05995042 0.00028999 0.02739449
+v -0.05995042 0.02924745 0.02864876
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+
diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_30.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f16161e7a5398623662cbea1711b14e424503e1
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_30.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.01874964 -0.01865498 -0.02647596
+v 0.01874964 -0.01887535 -0.02370338
+v 0.01874964 -0.02577873 -0.02647598
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+
diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_4.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b73607a470c4743242322169a202825c57eaeae8
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_4.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+v -0.02851735 -0.01669567 -0.02410612
+v -0.02856789 -0.01678880 -0.02370337
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+
diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_5.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d9e50c4e96412d604c84f466466280bc8f24a6e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_5.obj
@@ -0,0 +1,1390 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_6.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ef3b6c5b1b649f8328ffa9fc9b80930b4e35b4a
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_6.obj
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diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_7.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8eca1c7d7779db05cf44b6f0db9cfdce6cf5485
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_7.obj
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diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_8.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abadcfbb94ef7c0a12b5e09b20db0e11bb10f3fd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_8.obj
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diff --git a/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_9.obj b/dataset/desktop_supplies/decorations/e5d5d659e6ab5e3bac1172a88ac1b1b3/mjcf/mesh/saucer_collision_9.obj
new file mode 100644
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