diff --git a/.gitattributes b/.gitattributes
index df1493ca222086b913fba25b84eb85a44ed93329..327791b8f73292e32494259ee25d476805460c7c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3370,5 +3370,5 @@ dataset/desktop_supplies/office_tools/69d21ac727b15a7ba794aa50f8b08011/mesh/stam
 dataset/desktop_supplies/office_tools/69d21ac727b15a7ba794aa50f8b08011/stamp_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/6b61862994645aafbcaba695023be304/mesh/scissors_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/6b61862994645aafbcaba695023be304/scissors_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/71e9a0d48f565c62acb7b6b85dad6720/mesh/scotch_tape_001.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/71e9a0d48f565c62acb7b6b85dad6720/scotch_tape_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mesh/staples_box_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/staples_box_006.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mesh/material.mtl b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c373087a521dfaea7966c1be76d2891757d30c94
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl staples_box_006_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd staples_box_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mesh/material_0.png b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8aaa0fa21e890f3dd6ab5393567cf4cfcd4f077
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9339fceda87bf9e1128dde6b260eae004b548f9f7591a5bbf893be749146e329
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mesh/staples_box_006.glb b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mesh/staples_box_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2b59b77b0e1ef7c44ad3f6749cc458b86abe8ebd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mesh/staples_box_006.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mesh/staples_box_006.mtl b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mesh/staples_box_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1e2e682fbb9bff9ab082a4d2bf909fe0dea2c5c9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mesh/staples_box_006.mtl
@@ -0,0 +1,6 @@
+newmtl staples_box_006_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mesh/staples_box_006.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mesh/staples_box_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50a5c56682e812f508dd7cdfe68668751e521eaa
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mesh/staples_box_006.obj
@@ -0,0 +1,108088 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_006_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mesh/staples_box_006_collision.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mesh/staples_box_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1a30fd86e0325aa4810d3762d769591e427bbc7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mesh/staples_box_006_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6cb083f87282d35cf0796bcd9ff26626e9ae711
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision.obj
@@ -0,0 +1,33902 @@
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_0.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b99111afa2a56eeaa11695ec04867e20441bf1b4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_1.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aae78857255d3f41372bbe6c68a7611428049696
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_1.obj
@@ -0,0 +1,1321 @@
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_10.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f49cc114c9b524a57589ae59b4f3bcd256ef9a02
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_10.obj
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+
diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_11.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92f93908d2cda0f733d74c7d5943b9c731b06f10
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_11.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02328486 -0.05943268 -0.03218913
+v -0.02328486 -0.05943268 -0.02414298
+v -0.02328486 -0.05843268 -0.03218913
+v -0.02328486 -0.05843268 -0.02414298
+v 0.03831261 -0.05943268 -0.03218913
+v 0.03831261 -0.05943268 -0.02414298
+v 0.03831261 -0.05843268 -0.03218913
+v 0.03831261 -0.05843268 -0.02414298
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_12.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ab55009ba4df9d9977404969b925576be12df90
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_12.obj
@@ -0,0 +1,1360 @@
+# https://github.com/mikedh/trimesh
+v 0.02811497 0.04301080 -0.03483353
+v 0.03422492 0.04300307 -0.03483353
+v 0.03212170 0.04300694 -0.03680258
+v 0.03212170 0.04300694 -0.03884423
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+v -0.00731524 0.04301080 -0.03483353
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+v 0.03619084 0.04299537 -0.04292533
+v 0.03822541 0.04297214 -0.03483353
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+v 0.01583891 0.04300697 -0.04496699
+v 0.01176977 0.04301083 -0.04292533
+v -0.00731524 0.04300697 -0.04623862
+v -0.00248470 0.04301084 -0.04496699
+v -0.00731524 0.00352888 -0.03485788
+v 0.04028494 0.00352888 -0.03483368
+v 0.03415627 0.04299538 -0.04700424
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+v 0.03212170 0.04299924 -0.04700424
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+v 0.01583891 0.04300311 -0.04700424
+v -0.00731524 0.04299925 -0.04828027
+v -0.00731524 0.00352896 -0.05730285
+v 0.05643043 0.00352888 -0.03483368
+v 0.03415627 0.04298379 -0.04904589
+v 0.03619084 0.04298764 -0.04700424
+v 0.03212170 0.04298765 -0.04904589
+v 0.03008089 0.04299152 -0.04904589
+v 0.01380434 0.04299539 -0.04904589
+v 0.04163300 0.04285618 -0.03483353
+v 0.04163924 0.04285619 -0.03680258
+v 0.03822541 0.04296446 -0.04700424
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_13.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f1151bd653205fb6f351a98c4e778c6d5c930ab
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_13.obj
@@ -0,0 +1,2092 @@
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_14.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb857d58116be2df883387b6720cedbe5796f26e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_14.obj
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_15.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2fd45daac828dd504145d3da656f935601b3455
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_15.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_16.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1257ae2636a3d37d474cb29265d2a984741d9693
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_16.obj
@@ -0,0 +1,592 @@
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_17.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfcae62e77532665d442d19bb901ee367279efca
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_17.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_18.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1378fc3ce8f6d66a02efe613382fafcc926c99e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_18.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_19.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6131ecaa56ca51fecde7b34d960270c419d4375c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_19.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_2.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aa4e01a8277ba4d1e59a5574695b3bb27d749a4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_20.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..690f71315468abb8ce4b2f9be08decfee69470f4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_20.obj
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+
diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_21.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1abc54e20ea138c81c2b22fbf174ce969da9ad5e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_21.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.01619691 -0.05893404 -0.02413984
+v -0.01171416 -0.06134819 -0.01759466
+v -0.01177306 -0.06139879 -0.01639578
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+v -0.00248517 -0.06490190 -0.01435738
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+
diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_22.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2403ed09f08f640484c16a9153b65a3547eb1a71
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_22.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.00732148 0.02550642 -0.03483140
+v -0.00732148 0.02850240 -0.01456732
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+
diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_23.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ef7843fa943253daba827ed1284a7e443b2e5b8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_23.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
+v 0.04204248 0.02761291 -0.01456732
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_24.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55c537aa657bb3ca1f32bfdb77eae919b2e816b0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_24.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_25.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3711e5dbd32c44ae77d3bffa0573b1c824b30ab
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_25.obj
@@ -0,0 +1,661 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_26.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..631d6abd96b10c1d6c38f2554372ab6a945e37a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_26.obj
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_27.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f30cc6eb592bc4926aa61bf94525d3f558e51fc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_27.obj
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_28.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36bd15ca107c91c164ea8e006ecb1fccf43d446c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_28.obj
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_29.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c89cb7d288c3407c41ab2cabd673bedadd8a8146
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_29.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_3.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eee58d9f11520538d1a7d4ce84a802af47f1eaf0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_3.obj
@@ -0,0 +1,475 @@
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_30.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b13a75dbeb1200ce283a8c2c477ca2f6578e1a3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_30.obj
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_31.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3ad020ed922608684b893c41d114345c139cb60
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_31.obj
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_32.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd96d8da06ff65ebc668dea639f7a4cac4c08324
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_32.obj
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_33.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13f7714f508112e6898f61ebe0a19b507f4943e3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_33.obj
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_34.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fef32e595578c5d35f88b9b97f92d325ea22e766
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_34.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_35.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2829766c1f0ac1cc5d4e0d1bf1798716dd1b9d6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_35.obj
@@ -0,0 +1,583 @@
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_36.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e75eed213f0bb47318ea85c8ab50d1a38207ca69
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_36.obj
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_37.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f394a93dc579db6c7500e865b789238a281a68ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_37.obj
@@ -0,0 +1,232 @@
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_38.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3b477ac9c3efef6bc9c9c11fbe7778e590d7eb5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_38.obj
@@ -0,0 +1,724 @@
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_39.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eab6969b57f8dd984f7aacf31bc0226f2740982e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_39.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+v -0.02328486 -0.05840586 -0.02414216
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+v -0.01619760 -0.05840586 -0.01573884
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+
diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_4.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd3bea0e9a2d9f63aa7c23011427b8344076a57e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_4.obj
@@ -0,0 +1,715 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_40.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f181c07ce53255b17587506d144a3517db5f6d2c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_40.obj
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_41.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39a127720c0f806e490677e0716d33cae5a600c7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_41.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.05638264 0.02425136 -0.01456733
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_42.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83ed2cba7ea67930f8fe3d26c253c73cc440b7fe
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_42.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_43.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b975e2c0d20e5c27dda2a5781f61246b64d6cae
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_43.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
+v -0.01062828 -0.01983607 0.05726455
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_44.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79ec4b03deb5e79e421e27e0ea7f593782104d9d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_44.obj
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_45.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65b8bb2f10456b8aef5d20ee40f32c7c6367ce0c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_45.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+v 0.01547580 -0.05943031 -0.01249294
+v 0.01547580 -0.05843031 -0.02414184
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+v 0.03679954 -0.05843031 -0.01249294
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+f 3 8 7
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+
diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_46.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37b0aa28ede90205ef66fe5ab4d70f658d58fe94
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_46.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_47.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b261304453ad13e2e80c5159cd80da81f0fee432
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_47.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_48.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f48fb4fcdce032321bd3ecdd027680473ca0f8b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_48.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_49.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43ee4960ab8f1545974e37a236a839814972b806
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_49.obj
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_5.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57ad6a3865f67038fa151295de4c78a0e87a5d85
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_5.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_50.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88226455df7e97ccb0371f975b92b448947e350e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_50.obj
@@ -0,0 +1,796 @@
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_6.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0103afc371fda1212e8d0a8f1a1b33fb99601965
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_7.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8de6614c47d9f0d14a37002f96cd00e39cee4cf
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_8.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c27abd3fc25d58d9086c1bd704a1b5a9a09456e4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_9.obj b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06773d856f0e828fa2e35ee7fe3e907a0ccfd8a7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/mesh/staples_box_006_collision_9.obj
@@ -0,0 +1,1267 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/staples_box_006.xml b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/staples_box_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..72364ca751f0ce0de059cea2837e66d8769792d1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mjcf/staples_box_006.xml
@@ -0,0 +1,116 @@
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+    <mesh name="collision_mesh_0_15" file="mesh/staples_box_006_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/staples_box_006_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/staples_box_006_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/staples_box_006_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/staples_box_006_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/staples_box_006_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/staples_box_006_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/staples_box_006_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/staples_box_006_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/staples_box_006_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/staples_box_006_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/staples_box_006_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/staples_box_006_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/staples_box_006_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/staples_box_006_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/staples_box_006_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/staples_box_006_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/staples_box_006_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/staples_box_006_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/staples_box_006_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/staples_box_006_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/staples_box_006_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/staples_box_006_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/staples_box_006_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/staples_box_006_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/staples_box_006_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/staples_box_006_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/staples_box_006_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/staples_box_006_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/staples_box_006_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/staples_box_006_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/staples_box_006_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/staples_box_006_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/staples_box_006_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/staples_box_006_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/staples_box_006_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="staples_box_006">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/staples_box_006.urdf b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/staples_box_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7f37cf35bd95d12f84fa36e57cb33cf2a9aceaef
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/staples_box_006.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="staples_box_006">
+   <link name="staples_box_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_006.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>716a8b94a0f956e1b282cca69c9b2801</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>staples_box</category>
+         <name>wooden staples box</name>
+         <color>brown</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>wooden box with hinged lid and internal compartment</description>
+         <min_height>0.1240</min_height>
+         <max_height>0.1240</max_height>
+         <real_height>0.1240</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506211928</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/staples_box_006.usd b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/staples_box_006.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/staples_box_006.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:871dd6587353251b41422d37037d1d1dc81290e9dba501e82a6e52c6be6a7612
+size 4739108
diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/textures/material_0.png b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11797286
diff --git a/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/video.mp4 b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/video.mp4
@@ -0,0 +1,3 @@
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+oid sha256:cd10235da9476be8c3edeaf7ba37402845bbc13a2aa99e1acb44455de2b05504
+size 495763